Merge branch 'awf-latest' into RT1-8205-add-lane-change-parameter

tier4 · Dec 11, 2024 · 169e4a1 · 169e4a1
2 parents eb8d576 + e20ec54
commit 169e4a1
Show file tree

Hide file tree

Showing 4 changed files with 13 additions and 12 deletions.
diff --git a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml
@@ -28,7 +28,7 @@
       "ndt_scan_matcher: scan_matching_status": default
 
       ## /localization/004-accuracy
-      "localization: localization_error_monitor": default
+      "localization_error_monitor: ellipse_error_status": default
 
       # map
       ## /map/001-topic_status/pointcloud_map

diff --git a/autoware_launch/config/system/tier4_diagnostics/localization.yaml b/autoware_launch/config/system/tier4_diagnostics/localization.yaml
@@ -94,6 +94,6 @@ units:
 
   - path: /localization/004-accuracy
     type: diag
-    node: localization
-    name: localization_error_monitor
+    node: localization_error_monitor
+    name: ellipse_error_status
     timeout: 1.0
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -33,6 +33,7 @@
   <include file="$(find-pkg-share diagnostic_graph_utils)/launch/logging.launch.xml">
     <arg name="root_path" value="/autoware/modes/autonomous"/>
     <arg name="max_depth" value="3"/>
-    <arg name="show_rate" value="0.2"/>
+    <arg name="show_rate" value="10.0"/>
+    <arg name="enable_terminal_log" value="false"/>
   </include>
 </launch>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -268,21 +268,21 @@ Visualization Manager:
               Primary Color: 174; 174; 174
           Enabled: true
           Name: Vehicle
-        - Class: rviz_plugins/MrmSummaryOverlayDisplay
+        - Class: rviz_plugins/StringStampedOverlayDisplay
           Enabled: true
-          Font Size: 10
+          Font Size: 12
           Left: 10
-          Max Letter Num: 100
-          Name: MRM Summary
-          Text Color: 25; 255; 240
+          Max Letter Num: 70
+          Name: Error Diag Graph
+          Text Color: 51; 201; 220
           Top: 10
           Topic:
-            Depth: 5
+            Depth: 1
             Durability Policy: Volatile
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /system/emergency/hazard_status
-          Value: false
+            Value: /logging_diag_graph/debug/error_graph_text
+          Value: true
           Value height offset: 0
       Enabled: true
       Name: System