Merge pull request #164 from tier4/chore/cherry-pick

chore: cherry pick
tier4 · Aug 7, 2023 · 7ba24e0 · 7ba24e0
2 parents 1b9b200 + 4ad0ba6
commit 7ba24e0
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Showing 2 changed files with 50 additions and 50 deletions.
diff --git a/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -22,58 +22,60 @@
               type: diagnostic_aggregator/AnalyzerGroup
               path: performance_monitoring
               analyzers:
+                blockage:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: blockage
+                  contains: [": blockage_validation"]
+                  timeout: 1.0
                 visibility:
                   type: diagnostic_aggregator/GenericAnalyzer
                   path: visibility
                   contains: ["left_upper: visibility_validation"]
                   timeout: 1.0
-
-                blockage:
+                concat_status:
                   type: diagnostic_aggregator/GenericAnalyzer
-                  path: blockage
-                  contains: [": blockage_validation"]
+                  path: concat_status
+                  contains: [": concat_status"]
                   timeout: 1.0
+            pandar:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: pandar
+              analyzers:
+                health_monitoring:
+                  type: diagnostic_aggregator/AnalyzerGroup
+                  path: health_monitoring
+                  analyzers:
+                    connection:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: connection
+                      contains: [": pandar_connection"]
+                      timeout: 5.0
+                    temperature:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: temperature
+                      contains: [": pandar_temperature"]
+                      timeout: 5.0
+                    ptp:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: ptp
+                      contains: [": pandar_ptp"]
+                      timeout: 5.0
 
         gnss:
           type: diagnostic_aggregator/AnalyzerGroup
           path: gnss
           analyzers:
-            health_monitoring:
+            septentrio:
               type: diagnostic_aggregator/AnalyzerGroup
-              path: health_monitoring
+              path: septentrio
               analyzers:
-                data:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: data
-                  contains: [": gnss_data"]
-                  timeout: 3.0
-
-                antenna:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: antenna
-                  contains: [": gnss_antenna"]
-                  timeout: 3.0
-
-                tx_usage:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: tx_usage
-                  contains: [": gnss_tx_usage"]
-                  timeout: 3.0
-
-                spoofing:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: spoofing
-                  contains: [": gnss_spoofing"]
-                  timeout: 3.0
-
-                jamming:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: jamming
-                  contains: [": gnss_jamming"]
-                  timeout: 3.0
-
-                fix_topic_status:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: fix_topic_status
-                  contains: [": fix topic status"]
-                  timeout: 3.0
+                health_monitoring:
+                  type: diagnostic_aggregator/AnalyzerGroup
+                  path: health_monitoring
+                  analyzers:
+                    gnss:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: gnss
+                      startswith: ["gnss"]
+                      contains: [": gnss"]
+                      timeout: 5.0
diff --git a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -13,16 +13,14 @@
   ros__parameters:
     required_diags:
       # gnss
-      gnss_connection: default
-      gnss_data: default
-      gnss_antenna: default
-      gnss_tx_usage: default
-      gnss_spoofing: default
-      gnss_jamming: default
-      fix topic status: default
+      gnss: default
 
       # lidar
-      #"left_upper: visibility_validation": default
-      #blockage_validation: default
+      pandar_connection: default
+      pandar_temperature: default
+      pandar_ptp: default
+      "left_upper: visibility_validation": default
+      blockage_validation: default
+      concat_status: default
 
       sensing_topic_status: default