diagnostic_graph_aggregator#
Overview#
The diagnostic graph aggregator node subscribes to diagnostic array and publishes aggregated diagnostic graph. As shown in the diagram below, this node introduces extra diagnostic status for intermediate functional unit. Diagnostic status dependencies will be directed acyclic graph (DAG).
Diagnostics graph message#
The diagnostics graph that this node outputs is a combination of diagnostic status and connections between them. This graph consists of an array of diagnostic nodes, and each node has a status and links. This link contains an index indicating the position of the node in the graph. Therefore, the graph can be reconstructed from the array of nodes using links. The following is an example of a message representing the graph in the overview section.
Operation mode availability#
For MRM, this node publishes the status of the top-level functional units in the dedicated message. Therefore, the diagnostic graph must contain functional units with the following names. This feature breaks the generality of the graph and may be changed to a plugin or another node in the future.
- /autoware/operation/stop
- /autoware/operation/autonomous
- /autoware/operation/local
- /autoware/operation/remote
- /autoware/operation/emergency-stop
- /autoware/operation/comfortable-stop
- /autoware/operation/pull-over
Interfaces#
| Interface Type | Interface Name | Data Type | Description |
|---|---|---|---|
| subscription | /diagnostics |
diagnostic_msgs/msg/DiagnosticArray |
Diagnostics input. |
| publisher | /diagnostics_graph |
tier4_system_msgs/msg/DiagnosticGraph |
Diagnostics graph. |
| publisher | /system/operation_mode/availability |
tier4_system_msgs/msg/OperationModeAvailability |
mode availability. |
Parameters#
| Parameter Name | Data Type | Description |
|---|---|---|
graph_file |
string |
Path of the config file. |
rate |
double |
Rate of aggregation and topic publication. |
input_qos_depth |
uint |
QoS depth of input array topic. |
graph_qos_depth |
uint |
QoS depth of output graph topic. |
use_operation_mode_availability |
bool |
Use operation mode availability publisher. |
use_debug_mode |
bool |
Use debug output to stdout. |
Examples#
ros2 launch diagnostic_graph_aggregator example.launch.xml