diff --git a/launch/system_launch/CMakeLists.txt b/launch/system_launch/CMakeLists.txt new file mode 100644 index 0000000000000..656e60c6d0093 --- /dev/null +++ b/launch/system_launch/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 3.5) +project(system_launch) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/launch/system_launch/README.md b/launch/system_launch/README.md new file mode 100644 index 0000000000000..ae95bb8a937f4 --- /dev/null +++ b/launch/system_launch/README.md @@ -0,0 +1,20 @@ +# system_launch + +## Structure + +![system_launch](./system_launch.drawio.svg) + +## Package Dependencies + +Please see `` in `package.xml`. + +## Usage + +```xml + + + + +``` + +The sensing configuration parameters used in autoware_error_monitor are loaded from "config/diagnostic_aggregator/sensor_kit.param.yaml" in the "`SENSOR_MODEL`\_description" package. diff --git a/launch/system_launch/config/diagnostic_aggregator/vehicle.param.yaml b/launch/system_launch/config/diagnostic_aggregator/vehicle.param.yaml new file mode 100644 index 0000000000000..e96e3b3b05934 --- /dev/null +++ b/launch/system_launch/config/diagnostic_aggregator/vehicle.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + vehicle: + type: diagnostic_aggregator/AnalyzerGroup + path: vehicle + analyzers: + vehicle_errors: + type: diagnostic_aggregator/GenericAnalyzer + path: vehicle_errors + contains: [": vehicle_errors"] + timeout: 1.0 diff --git a/launch/system_launch/config/system_monitor/cpu_monitor.param.yaml b/launch/system_launch/config/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000000..2f049519aa17d --- /dev/null +++ b/launch/system_launch/config/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_count: 2 + usage_avg: true + msr_reader_port: 7634 diff --git a/launch/system_launch/config/system_monitor/gpu_monitor.param.yaml b/launch/system_launch/config/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000000..d96b9f24640b2 --- /dev/null +++ b/launch/system_launch/config/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/launch/system_launch/config/system_monitor/hdd_monitor.param.yaml b/launch/system_launch/config/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000000..32d3a425b1898 --- /dev/null +++ b/launch/system_launch/config/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda3 + temp_warn: 55.0 + temp_error: 70.0 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/launch/system_launch/config/system_monitor/mem_monitor.param.yaml b/launch/system_launch/config/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000000..f2da3972be91a --- /dev/null +++ b/launch/system_launch/config/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/launch/system_launch/config/system_monitor/net_monitor.param.yaml b/launch/system_launch/config/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000000..f8dc832d7b2f2 --- /dev/null +++ b/launch/system_launch/config/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: ["*"] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/launch/system_launch/config/system_monitor/ntp_monitor.param.yaml b/launch/system_launch/config/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000000..db54f70d1ce59 --- /dev/null +++ b/launch/system_launch/config/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/launch/system_launch/config/system_monitor/process_monitor.param.yaml b/launch/system_launch/config/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000000..3d6d82fae5ce2 --- /dev/null +++ b/launch/system_launch/config/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/launch/system_launch/launch/system.launch.xml b/launch/system_launch/launch/system.launch.xml new file mode 100644 index 0000000000000..8ae917f3082fb --- /dev/null +++ b/launch/system_launch/launch/system.launch.xml @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/system_launch/package.xml b/launch/system_launch/package.xml new file mode 100644 index 0000000000000..b2150348efb06 --- /dev/null +++ b/launch/system_launch/package.xml @@ -0,0 +1,24 @@ + + + + system_launch + 0.1.0 + The system_launch package + + Kenji Miyake + Apache License 2.0 + + ament_cmake_auto + + autoware_error_monitor + autoware_state_monitor + emergency_handler + system_monitor + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/launch/system_launch/system_launch.drawio.svg b/launch/system_launch/system_launch.drawio.svg new file mode 100644 index 0000000000000..b22f005948a02 --- /dev/null +++ b/launch/system_launch/system_launch.drawio.svg @@ -0,0 +1,408 @@ + + + + + + + +
+
+
+ system.launch.xml +
+
+
+ + package: system_launch + +
+
+
+
+ + + system.launch.xml... + + + + + + + +
+
+
+ system_monitor.launch.py +
+
+
+ package: system_monitor +
+
+
+
+ + + system_monitor.launch.py... + + + + + + + + + + + + +
+
+
+ online +
+
+
+ + + online + + + + + + + + +
+
+
+ planning_simulation +
+
+
+ + + planning_simulation + + + + + + + +
+
+
+ $(var run_mode) +
+
+
+ + + $(var run_mode) + + + + + + + +
+
+
+ launch name +
+
+
+ + package: package name + +
+
+
+
+ + + launch name... + + + + + + + +
+
+
+ ex: +
+
+
+ + + ex: + + + + + + + +
+
+
+ node name +
+
+
+ + package: package name + +
+
+
+
+ + + node name... + + + + + + + +
+
+
+ other name +
+
+
+ + package: package name + +
+
+
+
+ + + other name... + + + + + + + +
+
+
+ autoware_state_monitor.launch.xml +
+
+
+ package: autoware_state_monitor +
+
+
+
+
+ args: config_file = + + autoware_state_monitor.param.yaml + +
+
+
+
+ + + autoware_state_monitor.launch.xml... + + + + + + + +
+
+
+ autoware_state_monitor.launch.xml +
+
+
+ package: autoware_state_monitor +
+
+
+
+
+ args: config_file = + + autoware_state_monitor.planning_simulation.param.yaml + +
+
+
+
+ + + autoware_state_monitor.launch.xml... + + + + + + + + + + +
+
+
+ online +
+
+
+ + + online + + + + + + + + +
+
+
+ planning_simulation +
+
+
+ + + planning_simulation + + + + + + + +
+
+
+ $(var run_mode) +
+
+
+ + + $(var run_mode) + + + + + + + +
+
+
+ autoware_error_monitor.launch.xml +
+
+
+ package: autoware_error_monitor +
+
+
+
+
+ args: config_file = + + autoware_error_monitor.param.yaml + +
+
+
+
+ + + autoware_error_monitor.launch.xml... + + + + + + + +
+
+
+ autoware_error_monitor.launch.xml +
+
+
+ package: autoware_error_monitor +
+
+
+
+
+ args: config_file = + + autoware_error_monitor.planning_simulation.param.yaml + +
+
+
+
+ + + autoware_error_monitor.launch.xml... + + + + + + + +
+
+
+ emergency_handler.launch.xml +
+
+
+ package: emergency_handler +
+
+
+
+ + + emergency_handler.launch.xml... + + + + + + + + + + + Viewer does not support full SVG 1.1 + + + + \ No newline at end of file