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feat(diagnostics): replace monitoring localization diagnostic items #1665

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291ae2e
feat: replace monitoring localization diagnostic items
Motsu-san Oct 7, 2025
3c36f28
fix: exclude the items has no warn and error
Motsu-san Oct 8, 2025
432b1bc
style: unify the formatting
Motsu-san Oct 14, 2025
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37 changes: 35 additions & 2 deletions autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,41 @@
## /autoware/localization/accuracy
"localization_error_monitor: ellipse_error_status": default

## /autoware/localization/sensor_fusion_status
"localization: ekf_localizer": default
## /autoware/localization/ekf_localizer_activation
"localization: ekf_localizer: is_activated": default

## /autoware/localization/ekf_localizer_set_initial_pose
"localization: ekf_localizer: is_set_initialpose": default

## /autoware/localization/ekf_localizer_pose_no_update_count
"localization: ekf_localizer: pose_no_update_count": default

## /autoware/localization/ekf_localizer_pose_queue_size
"localization: ekf_localizer: pose_queue_size": default

## /autoware/localization/ekf_localizer_pose_delay_time
"localization: ekf_localizer: pose_delay_time": default

## /autoware/localization/ekf_localizer_pose_mahalanobis_distance
"localization: ekf_localizer: pose_mahalanobis_distance": default

## /autoware/localization/ekf_localizer_twist_no_update_count
"localization: ekf_localizer: twist_no_update_count": default

## /autoware/localization/ekf_localizer_twist_queue_size
"localization: ekf_localizer: twist_queue_size": default

## /autoware/localization/ekf_localizer_twist_delay_time
"localization: ekf_localizer: twist_delay_time": default

## /autoware/localization/ekf_localizer_twist_mahalanobis_distance
"localization: ekf_localizer: twist_mahalanobis_distance": default

## /autoware/localization/ekf_localizer_cov_ellipse_long_axis_size
"localization: ekf_localizer: cov_ellipse_long_axis_size": default

## /autoware/localization/ekf_localizer_cov_ellipse_lateral_direction_size
"localization: ekf_localizer: cov_ellipse_lateral_direction_size": default

## /autoware/localization/topic_rate_check/pose_twist_fusion
"topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
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96 changes: 89 additions & 7 deletions autoware_launch/config/system/diagnostics/localization.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,11 +6,38 @@ units:
link: /autoware/localization/state
- type: and
list:
- { type: link, link: /autoware/localization/topic_rate_check/transform }
- { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion }
- { type: link, link: /autoware/localization/scan_matching_status }
- { type: link, link: /autoware/localization/accuracy }
- { type: link, link: /autoware/localization/sensor_fusion_status }
- type: link
link: /autoware/localization/topic_rate_check/transform
- type: link
link: /autoware/localization/topic_rate_check/pose_twist_fusion
- type: link
link: /autoware/localization/scan_matching_status
- type: link
link: /autoware/localization/accuracy
- type: link
link: /autoware/localization/ekf_localizer_activation
- type: link
link: /autoware/localization/ekf_localizer_set_initial_pose
- type: link
link: /autoware/localization/ekf_localizer_pose_no_update_count
# - type: link
# link: /autoware/localization/ekf_localizer_pose_queue_size
- type: link
link: /autoware/localization/ekf_localizer_pose_delay_time
- type: link
link: /autoware/localization/ekf_localizer_pose_mahalanobis_distance
- type: link
link: /autoware/localization/ekf_localizer_twist_no_update_count
# - type: link
# link: /autoware/localization/ekf_localizer_twist_queue_size
- type: link
link: /autoware/localization/ekf_localizer_twist_delay_time
- type: link
link: /autoware/localization/ekf_localizer_twist_mahalanobis_distance
- type: link
link: /autoware/localization/ekf_localizer_cov_ellipse_long_axis_size
- type: link
link: /autoware/localization/ekf_localizer_cov_ellipse_lateral_direction_size

- path: /autoware/localization/state
type: diag
Expand All @@ -37,7 +64,62 @@ units:
node: localization_error_monitor
name: ellipse_error_status

- path: /autoware/localization/sensor_fusion_status
- path: /autoware/localization/ekf_localizer_activation
type: diag
node: localization
name: ekf_localizer
name: "ekf_localizer: is_activated"

- path: /autoware/localization/ekf_localizer_set_initial_pose
type: diag
node: localization
name: "ekf_localizer: is_set_initialpose"

- path: /autoware/localization/ekf_localizer_pose_no_update_count
type: diag
node: localization
name: "ekf_localizer: pose_no_update_count"

# - path: /autoware/localization/ekf_localizer_pose_queue_size
# type: diag
# node: localization
# name: "ekf_localizer: pose_queue_size"

- path: /autoware/localization/ekf_localizer_pose_delay_time
type: diag
node: localization
name: "ekf_localizer: pose_delay_time"

- path: /autoware/localization/ekf_localizer_pose_mahalanobis_distance
type: diag
node: localization
name: "ekf_localizer: pose_mahalanobis_distance"

- path: /autoware/localization/ekf_localizer_twist_no_update_count
type: diag
node: localization
name: "ekf_localizer: twist_no_update_count"

# - path: /autoware/localization/ekf_localizer_twist_queue_size
# type: diag
# node: localization
# name: "ekf_localizer: twist_queue_size"

- path: /autoware/localization/ekf_localizer_twist_delay_time
type: diag
node: localization
name: "ekf_localizer: twist_delay_time"

- path: /autoware/localization/ekf_localizer_twist_mahalanobis_distance
type: diag
node: localization
name: "ekf_localizer: twist_mahalanobis_distance"

- path: /autoware/localization/ekf_localizer_cov_ellipse_long_axis_size
type: diag
node: localization
name: "ekf_localizer: cov_ellipse_long_axis_size"

- path: /autoware/localization/ekf_localizer_cov_ellipse_lateral_direction_size
type: diag
node: localization
name: "ekf_localizer: cov_ellipse_lateral_direction_size"
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