feat: use same parameter for system_error_monitor (#252)

* feat: use same parameter for system_error_monitor

* feat: launch when run_mode is psim

* feat: launch system_monitor only in online

* feat: crete launch.py

* ci(pre-commit): autofix

* fix: delete print

* feat: create dummy.param.yaml

* feat: make multi dummy diag publisher.launch.xml for each functions

* feat: add include for sensor_kit

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

system_launch/launch/dummy_diag_publisher/control.launch.xml

@@ -0,0 +1,7 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="joy_controller_connection"/>
+  </include>
+
+</launch>

system_launch/launch/dummy_diag_publisher/localization.launch.xml

@@ -0,0 +1,11 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="localization_accuracy"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="ndt_scan_matcher"/>
+  </include>
+
+</launch>

system_launch/launch/dummy_diag_publisher/system.launch.xml

@@ -0,0 +1,91 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="bagpacker"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="NTP Offset"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Temperature"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Thermal Throttling"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Frequency"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Load Average"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Temperature"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Memory Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Thermal Throttling"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Memory Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Network Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Network Traffic"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD Temperature"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Network Traffic"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD PowerOnHours"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD TotalDataWritten"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="High-load"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="High-mem"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Tasks Summary"/>
+  </include>
+
+</launch>

system_launch/launch/dummy_diag_publisher/vehicle.launch.xml

@@ -0,0 +1,7 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="vehicle_errors"/>
+  </include>
+
+</launch>

system_launch/launch/system.launch.xml

@@ -9,7 +9,7 @@
     <push-ros-namespace namespace="/system"/>
 
     <!-- System Monitor -->
-    <group>
+    <group if="$(eval &quot;'$(var run_mode)'=='online'&quot;)">
       <push-ros-namespace namespace="system_monitor"/>
       <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.py">
         <arg name="cpu_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/cpu_monitor.param.yaml"/>
@@ -30,8 +30,7 @@
     </include>
 
     <!-- Error Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
+    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
     <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
       <arg name="config_file" value="$(var config_file)" />
       <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
@@ -45,5 +44,15 @@
       <arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
     </include>
 
+    <!-- Dummy Diag Publisher -->
+    <group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">
+      <push-ros-namespace namespace="dummy_diag_publisher"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/control.launch.xml"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/localization.launch.xml"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/system.launch.xml"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/vehicle.launch.xml"/>
+      <include file="$(var sensor_launch_pkg)/launch/dummy_diag_publisher/sensing.launch.xml"/>
+    </group>
+
   </group>
 </launch>