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feat(system_diagnostic_monitor): enable collision_detector #655

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go-sakayori
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Description

This PR includes 2 changes

  • collision_detector would be on by default
  • The system diagnostic monitor would check the diagnostic from collision detector

Tests performed

[mrm_handler_node-23] [INFO] [1730964593.923885985] [system.mrm_handler]: MRM State changed: NORMAL -> MRM_OPERATING
[mrm_handler_node-23] [WARN] [1730964593.924031900] [system.mrm_handler]: MRM behavior is None. Do nothing.
[mrm_handler_node-23] [WARN] [1730964593.924290482] [system.mrm_handler]: EMERGENCY_STOP is operated.
[component_container_mt-39] [WARN] [1730964593.932577759] [control.vehicle_cmd_gate]: Emergency!
[component_container_mt-39] [INFO] [1730964593.972847381] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container_mt-39] [INFO] [1730964594.072510879] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container_mt-39] [INFO] [1730964594.172886994] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container_mt-39] [INFO] [1730964594.272667342] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[logging_node-24] [WARN] [1730964594.337685939] [logging_diag_graph]: The target mode is not available for the following reasons:
[logging_node-24]   - /autoware/modes/autonomous ERROR
[logging_node-24]     - /autoware/control ERROR
[logging_node-24]       - /autoware/control/emergency_braking ERROR
[logging_node-24]       - /autoware/control/collision_detector ERROR
[logging_node-24] 
[logging_node-24] [WARN] [1730964614.337687076] [logging_diag_graph]: The target mode is not available for the following reasons:
[logging_node-24]   - /autoware/modes/autonomous ERROR
[logging_node-24]     - /autoware/control ERROR
[logging_node-24]       - /autoware/control/collision_detector ERROR
[logging_node-24] 

Effects on system behavior

None

Interface changes

None

Pre-review checklist for the PR author

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In-review checklist for the PR reviewers

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Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

  • There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

Signed-off-by: Go Sakayori <[email protected]>
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@isamu-takagi isamu-takagi left a comment

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LGTM (diagnostic graph config)

@go-sakayori go-sakayori merged commit 80a8e22 into awf-latest Nov 7, 2024
10 checks passed
@go-sakayori go-sakayori deleted the feat/sys_diag_monitor/add_collision_detector branch November 7, 2024 07:59
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2 participants