chore: update dummy diag for sensors (#295)

* chore: update dummy diag for sensors Signed-off-by: Tomohito Ando <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Tomohito Ando <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Aug 30, 2024 · 687f283 · 687f283
1 parent 0b443c6
commit 687f283
Showing 1 changed file with 21 additions and 47 deletions.
diff --git a/aip_x2_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x2_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -13,24 +13,15 @@
   ros__parameters:
     required_diags:
       # gnss
-      ## /sensing/gnss/001-connection
       "topic_state_monitor_gnss_pose: gnss_topic_status": default
-
-      ## /sensing/gnss/002-quality
       "septentrio_driver: Quality indicators": default
 
       # imu
-      ## /sensing/imu/001-monitor
       "imu_monitor: yaw_rate_status": default
-
-      ## /sensing/imu/002-connection
       "topic_state_monitor_imu_data: imu_topic_status": default
-
-      ## /sensing/imu/003-gyro_bias
-      "gyro_bias_estimator: gyro_bias_validator": default
+      "gyro_bias_validator: gyro_bias_validator": default
 
       # lidar
-      ## /sensing/lidar/pndr/001-connection
       "pandar_monitor: /sensing/lidar/front_lower: pandar_connection": default
       "pandar_monitor: /sensing/lidar/front_upper: pandar_connection": default
       "pandar_monitor: /sensing/lidar/left_lower: pandar_connection": default
@@ -40,7 +31,15 @@
       "pandar_monitor: /sensing/lidar/rear_lower: pandar_connection": default
       "pandar_monitor: /sensing/lidar/rear_upper: pandar_connection": default
 
-      ## /sensing/lidar/pndr/002-temperature
+      "pandar_monitor: /sensing/lidar/front_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/front_upper: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/left_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/left_upper: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/right_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/right_upper: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp": defaultlt
+
       "pandar_monitor: /sensing/lidar/front_lower: pandar_temperature": default
       "pandar_monitor: /sensing/lidar/front_upper: pandar_temperature": default
       "pandar_monitor: /sensing/lidar/left_lower: pandar_temperature": default
@@ -49,47 +48,22 @@
       "pandar_monitor: /sensing/lidar/right_upper: pandar_temperature": default
       "pandar_monitor: /sensing/lidar/rear_lower: pandar_temperature": default
       "pandar_monitor: /sensing/lidar/rear_upper: pandar_temperature": default
+      "concatenate_data: concat_status": default
 
-      ## /sensing/lidar/pndr/003-ptp
-      "pandar_monitor: /sensing/lidar/front_lower: pandar_ptp": default
-      "pandar_monitor: /sensing/lidar/front_upper: pandar_ptp": default
-      "pandar_monitor: /sensing/lidar/left_lower: pandar_ptp": default
-      "pandar_monitor: /sensing/lidar/left_upper: pandar_ptp": default
-      "pandar_monitor: /sensing/lidar/right_lower: pandar_ptp": default
-      "pandar_monitor: /sensing/lidar/right_upper: pandar_ptp": default
-      "pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp": default
-      "pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp": default
-
-      ## /sensing/camera/001-connection
-      "topic_state_monitor_camera0: camera0_topic_status": default
-      "topic_state_monitor_camera1: camera1_topic_status": default
-      "topic_state_monitor_camera2: camera2_topic_status": default
-      "topic_state_monitor_camera3: camera3_topic_status": default
-      "topic_state_monitor_camera4: camera4_topic_status": default
-      "topic_state_monitor_camera5: camera5_topic_status": default
-      "topic_state_monitor_camera6: camera6_topic_status": default
-      "topic_state_monitor_camera7: camera7_topic_status": default
+      # camera
+      "v4l2_camera_camera0: capture_status": default
+      "v4l2_camera_camera1: capture_status": default
+      "v4l2_camera_camera2: capture_status": default
+      "v4l2_camera_camera3: capture_status": default
+      "v4l2_camera_camera4: capture_status": default
+      "v4l2_camera_camera5: capture_status": default
+      "v4l2_camera_camera6: capture_status": default
+      "v4l2_camera_camera7: capture_status": default
 
-      ## /sensing/radar/001-connection
+      # radar
       "topic_state_monitor_radar_front_center: radar_front_center_topic_status": default
       "topic_state_monitor_radar_front_left: radar_front_left_topic_status": default
       "topic_state_monitor_radar_front_right: radar_front_right_topic_status": default
       "topic_state_monitor_radar_rear_center: radar_rear_center_topic_status": default
       "topic_state_monitor_radar_rear_left: radar_rear_left_topic_status": default
       "topic_state_monitor_radar_rear_right: radar_rear_right_topic_status": default
-
-      ## /others/002-blockage_validation
-      "blockage_return_diag: /sensing/lidar/front_lower: blockage_validation": default
-      "blockage_return_diag: /sensing/lidar/front_upper: blockage_validation": default
-      "blockage_return_diag: /sensing/lidar/left_lower: blockage_validation": default
-      "blockage_return_diag: /sensing/lidar/left_upper: blockage_validation": default
-      "blockage_return_diag: /sensing/lidar/right_lower: blockage_validation": default
-      "blockage_return_diag: /sensing/lidar/right_upper: blockage_validation": default
-      "blockage_return_diag: /sensing/lidar/rear_lower: blockage_validation": default
-      "blockage_return_diag: /sensing/lidar/rear_upper: blockage_validation": default
-
-      ## /others/004-concat_status
-      "concatenate_data: concat_status": default
-
-      ## /others/005-visibility_validation/front_lower
-      "dual_return_filter: /sensing/lidar/front_lower: visibility_validation": default