fix: diag list

Signed-off-by: 1222-takeshi <[email protected]>
tier4 · May 7, 2024 · 123f0c4 · 123f0c4
1 parent 25af890
commit 123f0c4
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Showing 2 changed files with 61 additions and 6 deletions.
diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -54,17 +54,68 @@
                       type: diagnostic_aggregator/GenericAnalyzer
                       path: connection
                       contains: [": pandar_connection"]
-                      timeout: 1.0
+                      timeout: 5.0
                     temperature:
                       type: diagnostic_aggregator/GenericAnalyzer
                       path: temperature
                       contains: [": pandar_temperature"]
-                      timeout: 1.0
+                      timeout: 5.0
                     ptp:
                       type: diagnostic_aggregator/GenericAnalyzer
                       path: ptp
                       contains: [": pandar_ptp"]
-                      timeout: 1.0
+                      timeout: 5.0
+
+        gnss:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: gnss
+          analyzers:
+            health_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: health_monitoring
+              analyzers:
+                connection:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: connection
+                  contains: [": gnss_connection"]
+                  timeout: 3.0
+
+                data:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: data
+                  contains: [": gnss_data"]
+                  timeout: 3.0
+
+                antenna:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: antenna
+                  contains: [": gnss_antenna"]
+                  timeout: 3.0
+
+                tx_usage:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: tx_usage
+                  contains: [": gnss_tx_usage"]
+                  timeout: 3.0
+
+                spoofing:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: spoofing
+                  contains: [": gnss_spoofing"]
+                  timeout: 3.0
+
+                jamming:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: jamming
+                  contains: [": gnss_jamming"]
+                  timeout: 3.0
+
+                fix_topic_status:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: fix_topic_status
+                  contains: [": fix topic status"]
+                  timeout: 3.0
+
         imu:
           type: diagnostic_aggregator/AnalyzerGroup
           path: imu

diff --git a/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -13,7 +13,13 @@
   ros__parameters:
     required_diags:
       # gnss
-      gnss: default
+      gnss_connection: default
+      gnss_data: default
+      gnss_antenna: default
+      gnss_tx_usage: default
+      gnss_spoofing: default
+      gnss_jamming: default
+      fix topic status: default
 
       # pandar
       pandar_connection: default
@@ -25,8 +31,6 @@
       velodyne_temperature: default
       velodyne_rpm: default
 
-      concat_status: default
-
       sensing_topic_status: default
 
       # imu