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 index b5c168cdd0..8a171c01f6 100644 --- 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 index 45adcac68e..22bfa26ae0 100644 --- 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 index a94960d8bf..6e0f334383 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -33,6 +33,7 @@ - + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 589c9cbfd5..f7d363655f 100644 --- 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