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refactor(component_state_monitor): replace topic state monitor by behavior path planner timeout #1779

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refactor(component_state_monitor): replace topic state monitor by behavior path planner timeout #1779

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f4bce71
refactor(diagnostics): replace topic_state_monitor error by behavior_…
takam5f2 Mar 3, 2026
9ff4175
refactor(component_state_monitor): remove topic_state_monitor of topi…
takam5f2 Mar 3, 2026
90d7329
refactor(diagnostics): remove topic-state-error for route
takam5f2 Mar 3, 2026
d1105fe
Merge branch 'main' into refactor/replace-topic_state_monitor-by-beha…
takam5f2 Mar 4, 2026
067887c
revert(diagnostics): restore perception.yaml.
takam5f2 Mar 4, 2026
8a5aceb
Merge branch 'refactor/replace-topic_state_monitor-by-behavior_path_p…
takam5f2 Mar 4, 2026
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78 changes: 0 additions & 78 deletions autoware_launch/config/system/component_state_monitor/topics.yaml
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Original file line number Diff line number Diff line change
@@ -1,16 +1,3 @@
- module: map
mode: [online, logging_simulation, planning_simulation]
type: launch
args:
node_name_suffix: vector_map
topic: /map/vector_map
topic_type: autoware_map_msgs/msg/LaneletMapBin
best_effort: false
transient_local: true
warn_rate: 0.0
error_rate: 0.0
timeout: 0.0

- module: map
mode: [online, logging_simulation]
type: launch
Expand All @@ -24,71 +11,6 @@
error_rate: 0.0
timeout: 0.0

- module: localization
mode: [online, logging_simulation]
type: autonomous
args:
node_name_suffix: pose_twist_fusion_filter_pose
topic: /localization/pose_twist_fusion_filter/pose
topic_type: geometry_msgs/msg/PoseStamped
best_effort: false
transient_local: false
warn_rate: 5.0
error_rate: 1.0
timeout: 1.0

- module: perception
mode: [online, logging_simulation]
type: launch
args:
node_name_suffix: obstacle_segmentation_pointcloud
topic: /perception/obstacle_segmentation/pointcloud
topic_type: sensor_msgs/msg/PointCloud2
best_effort: true
transient_local: false
warn_rate: 5.0
error_rate: 1.0
timeout: 1.0

- module: perception
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: object_recognition_objects
topic: /perception/object_recognition/objects
topic_type: autoware_perception_msgs/msg/PredictedObjects
best_effort: false
transient_local: false
warn_rate: 5.0
error_rate: 1.0
timeout: 1.0

- module: perception
mode: [online, logging_simulation]
type: autonomous
args:
node_name_suffix: traffic_light_recognition_traffic_signals
topic: /perception/traffic_light_recognition/traffic_signals
topic_type: autoware_perception_msgs/msg/TrafficLightGroupArray
best_effort: false
transient_local: false
warn_rate: 5.0
error_rate: 1.0
timeout: 1.0

- module: planning
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: mission_planning_route
topic: /planning/mission_planning/route
topic_type: autoware_planning_msgs/msg/LaneletRoute
best_effort: false
transient_local: true
warn_rate: 0.0
error_rate: 0.0
timeout: 0.0

- module: planning
mode: [online, logging_simulation, planning_simulation]
type: autonomous
Expand Down
7 changes: 0 additions & 7 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 @@ -27,10 +27,3 @@

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

## /autoware/localization/topic_rate_check/pose_twist_fusion
"topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default

# perception
## /autoware/perception/topic_rate_check/pointcloud
"topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default
6 changes: 0 additions & 6 deletions autoware_launch/config/system/diagnostics/localization.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,6 @@ units:
- 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 }
Expand All @@ -22,11 +21,6 @@ units:
node: topic_state_monitor_transform_map_to_base_link
name: localization_topic_status

- path: /autoware/localization/topic_rate_check/pose_twist_fusion
type: diag
node: topic_state_monitor_pose_twist_fusion_filter_pose
name: localization_topic_status

- path: /autoware/localization/scan_matching_status
type: diag
node: ndt_scan_matcher
Expand Down
6 changes: 0 additions & 6 deletions autoware_launch/config/system/diagnostics/map.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,8 @@ units:
- path: /autoware/map
type: and
list:
- { type: link, link: /autoware/map/topic_rate_check/vector_map }
- { type: link, link: /autoware/map/topic_rate_check/pointcloud_map }

- path: /autoware/map/topic_rate_check/vector_map
type: diag
node: topic_state_monitor_vector_map
name: map_topic_status

- path: /autoware/map/topic_rate_check/pointcloud_map
type: diag
node: topic_state_monitor_pointcloud_map
Expand Down
15 changes: 1 addition & 14 deletions autoware_launch/config/system/diagnostics/perception.yaml
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Original file line number Diff line number Diff line change
@@ -1,16 +1,3 @@
units:
- path: /autoware/perception
type: and
list:
- { type: link, link: /autoware/perception/topic_rate_check/objects }
- { type: link, link: /autoware/perception/topic_rate_check/pointcloud }

- path: /autoware/perception/topic_rate_check/objects
type: diag
node: topic_state_monitor_object_recognition_objects
name: perception_topic_status

- path: /autoware/perception/topic_rate_check/pointcloud
type: diag
node: topic_state_monitor_obstacle_segmentation_pointcloud
name: perception_topic_status
type: ok
12 changes: 6 additions & 6 deletions autoware_launch/config/system/diagnostics/planning.yaml
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Expand Up @@ -6,9 +6,9 @@ units:
link: /autoware/planning/routing/state
- type: and
list:
- { type: link, link: /autoware/planning/topic_rate_check/route }
- { type: link, link: /autoware/planning/topic_rate_check/trajectory }
- { type: link, link: /autoware/planning/trajectory_validation }
- { type: link, link: /autoware/planning/behavior_path_planner/incoming_message_timeout }

- path: /autoware/planning/trajectory_validation
type: and
Expand All @@ -30,11 +30,6 @@ units:
node: /adapi/node/routing
name: state

- path: /autoware/planning/topic_rate_check/route
type: diag
node: topic_state_monitor_mission_planning_route
name: planning_topic_status

- path: /autoware/planning/topic_rate_check/trajectory
type: diag
node: topic_state_monitor_scenario_planning_trajectory
Expand Down Expand Up @@ -94,3 +89,8 @@ units:
type: diag
node: planning_validator
name: trajectory_validation_trajectory_shift

- path: /autoware/planning/behavior_path_planner/incoming_message_timeout
type: diag
node: behavior_path_planner
name: incoming_message_timeout
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