From 203cdb763ccdf5634bc844b46ab92445ba64a42d Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Fri, 22 Dec 2023 14:09:46 +0900 Subject: [PATCH 1/2] feat: add gyro_bias_estimator to diagnostics_aggregator Signed-off-by: tomoya.kimura --- .../diagnostic_aggregator/sensor_kit.param.yaml | 14 ++++++++++++++ .../dummy_diag_publisher/sensor_kit.param.yaml | 3 +++ .../diagnostic_aggregator/sensor_kit.param.yaml | 13 +++++++++++++ .../dummy_diag_publisher/sensor_kit.param.yaml | 3 +++ .../diagnostic_aggregator/sensor_kit.param.yaml | 14 ++++++++++++++ .../dummy_diag_publisher/sensor_kit.param.yaml | 3 +++ 6 files changed, 50 insertions(+) diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml index 819c0b1f..5f2460c8 100644 --- a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml +++ b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml @@ -101,3 +101,17 @@ # path: time_sync # contains: [": livox_time_sync"] # timeout: 3.0 + + imu: + type: diagnostic_aggregator/AnalyzerGroup + path: imu + analyzers: + bias_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: bias_monitoring + analyzers: + gyro_bias_validator: + type: diagnostic_aggregator/GenericAnalyzer + path: gyro_bias_validator + contains: [": gyro_bias_estimator"] + timeout: 1.0 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 index 405c72a2..a10cfb8e 100644 --- a/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml +++ b/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml @@ -25,3 +25,6 @@ livox_motor_status: default livox_service_life: default livox_temperature: default + + # imu + gyro_bias_estimator: default diff --git a/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml index 6d83d1fc..4f9fdd41 100644 --- a/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml +++ b/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml @@ -85,3 +85,16 @@ startswith: ["gnss"] contains: [": gnss"] timeout: 5.0 + imu: + type: diagnostic_aggregator/AnalyzerGroup + path: imu + analyzers: + bias_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: bias_monitoring + analyzers: + gyro_bias_validator: + type: diagnostic_aggregator/GenericAnalyzer + path: gyro_bias_validator + contains: [": gyro_bias_estimator"] + timeout: 1.0 diff --git a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml index 8865be67..02ec3b1a 100644 --- a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml +++ b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml @@ -24,3 +24,6 @@ concat_status: default sensing_topic_status: default + + # imu + gyro_bias_estimator: default diff --git a/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml index 3b1b980e..6df6325d 100644 --- a/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml +++ b/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml @@ -93,3 +93,17 @@ path: fix_topic_status contains: [": fix topic status"] timeout: 3.0 + + imu: + type: diagnostic_aggregator/AnalyzerGroup + path: imu + analyzers: + bias_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: bias_monitoring + analyzers: + gyro_bias_validator: + type: diagnostic_aggregator/GenericAnalyzer + path: gyro_bias_validator + contains: [": gyro_bias_estimator"] + timeout: 1.0 diff --git a/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml index 5d4e24a0..85ec6acc 100644 --- a/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml +++ b/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml @@ -25,3 +25,6 @@ velodyne_connection: default velodyne_temperature: default velodyne_rpm: default + + # imu + gyro_bias_estimator: default \ No newline at end of file From f218b5a4d33772283e35153e2a263623b77c5ced Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 22 Dec 2023 05:13:57 +0000 Subject: [PATCH 2/2] ci(pre-commit): autofix --- .../config/dummy_diag_publisher/sensor_kit.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml index 85ec6acc..80cc7944 100644 --- a/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml +++ b/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml @@ -27,4 +27,4 @@ velodyne_rpm: default # imu - gyro_bias_estimator: default \ No newline at end of file + gyro_bias_estimator: default