Add vehicle cmd gate config (tier4#136)

* Add config_file of vehicle_cmd_gate Signed-off-by: Kenji Miyake <[email protected]> * Add use_emergency_stop Signed-off-by: Kenji Miyake <[email protected]> * Rename emergency_stop to external_emergency_stop Signed-off-by: Kenji Miyake <[email protected]> * Fix command_gate diag Signed-off-by: Kenji Miyake <[email protected]>
tkimura4 · Dec 10, 2020 · 0c98a01 · 0c98a01
1 parent f75b8de
commit 0c98a01
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Showing 3 changed files with 14 additions and 1 deletion.
diff --git a/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.yaml b/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.yaml
@@ -0,0 +1,9 @@
+update_rate: 10
+system_emergency_heartbeat_timeout: 0.5
+external_emergency_stop_heartbeat_timeout: 0.0
+
+vel_lim: 25.0
+lon_acc_lim: 5.0
+lon_jerk_lim: 5.0
+lat_acc_lim: 5.0
+lat_jerk_lim: 5.0
diff --git a/control_launch/launch/control.launch b/control_launch/launch/control.launch
@@ -8,6 +8,7 @@
   <arg name="mpc_follower_param_path" default="$(find control_launch)/config/mpc_follower/mpc_follower_param.yaml"/>
   <arg name="pure_pursuit_param_path" default="$(find control_launch)/config/pure_pursuit/pure_pursuit_param.yaml"/>
   <arg name="velocity_controller_param_path" default="$(find control_launch)/config/velocity_controller/velocity_controller_param.yaml"/>
+  <arg name="vehicle_cmd_gate_param_path" default="$(find control_launch)/config/vehicle_cmd_gate/vehicle_cmd_gate.yaml"/>
 
   <!-- control module -->
   <group ns="control">
@@ -43,6 +44,9 @@
 
     <!-- vehicle cmd gate -->
     <include file="$(find vehicle_cmd_gate)/launch/vehicle_cmd_gate.launch">
+      <arg name="config_file" value="$(arg vehicle_cmd_gate_param_path)"/>
+      <arg name="use_emergency_handling" value="false"/>
+      <arg name="use_external_emergency_stop" value="true"/>
     </include>
 
     <!-- remote_cmd_converter -->

diff --git a/system_launch/config/diagnostic_aggregator/control.yaml b/system_launch/config/diagnostic_aggregator/control.yaml
@@ -4,7 +4,7 @@ analyzers:
   command_gate:
     type: diagnostic_aggregator/GenericAnalyzer
     path: command_gate
-    contains: ": command_gate"
+    contains: "vehicle_cmd_gate: heartbeat"
     timeout: 1.0
     num_items: 0