fix(aip_x1,aip_x1_1): add node_alive_monitoring

Signed-off-by: 1222-takeshi <[email protected]>
tier4 · Nov 16, 2023 · 97fdcd0 · 97fdcd0
1 parent af61034
commit 97fdcd0
Show file tree

Hide file tree

Showing 2 changed files with 18 additions and 0 deletions.
diff --git a/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -4,6 +4,15 @@
       type: diagnostic_aggregator/AnalyzerGroup
       path: sensing
       analyzers:
+        node_alive_monitoring:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: node_alive_monitoring
+          analyzers:
+            topic_status:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: topic_status
+              contains: [": sensing_topic_status"]
+              timeout: 1.0
         lidar:
           type: diagnostic_aggregator/AnalyzerGroup
           path: lidar

diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -4,6 +4,15 @@
       type: diagnostic_aggregator/AnalyzerGroup
       path: sensing
       analyzers:
+        node_alive_monitoring:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: node_alive_monitoring
+          analyzers:
+            topic_status:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: topic_status
+              contains: [": sensing_topic_status"]
+              timeout: 1.0
         lidar:
           type: diagnostic_aggregator/AnalyzerGroup
           path: lidar