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refactor(component_state_monitor): replace topic state monitor by control_exe_node timeout #1784

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refactor(component_state_monitor): replace topic state monitor by control_exe_node timeout #1784

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73a43c7
refactor(diagnostics): replace topic_state_error diag by controller t…
takam5f2 Mar 5, 2026
944ba0b
refactor(component_state_monitor): remove trajectory topic state moni…
takam5f2 Mar 5, 2026
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13 changes: 0 additions & 13 deletions autoware_launch/config/system/component_state_monitor/topics.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -89,19 +89,6 @@
error_rate: 0.0
timeout: 0.0

- module: planning
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: scenario_planning_trajectory
topic: /planning/trajectory
topic_type: autoware_planning_msgs/msg/Trajectory
best_effort: false
transient_local: false
warn_rate: 5.0
error_rate: 1.0
timeout: 1.0

- module: control
mode: [online, logging_simulation, planning_simulation]
type: autonomous
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6 changes: 0 additions & 6 deletions autoware_launch/config/system/diagnostics/autoware-carla.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -130,19 +130,13 @@ units:
- 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 }

- 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
name: planning_topic_status

- path: /autoware/planning/trajectory_validation
type: and
list:
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6 changes: 6 additions & 0 deletions autoware_launch/config/system/diagnostics/control.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ units:
- { type: link, link: /autoware/control/emergency_braking }
- { type: link, link: /autoware/control/performance_monitoring/lane_departure }
- { type: link, link: /autoware/control/performance_monitoring/control_state }
- { type: link, link: /autoware/control/incoming_message_timeout }

- path: /autoware/control/node_alive_monitoring/command_gate
type: or
Expand Down Expand Up @@ -71,3 +72,8 @@ units:
type: diag
node: external_cmd_converter
name: remote_control_topic_status

- path: /autoware/control/incoming_message_timeout
type: diag
node: controller_node_exe
name: incoming_message_timeout
6 changes: 0 additions & 6 deletions autoware_launch/config/system/diagnostics/planning.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/planning/topic_rate_check/route }
- { type: link, link: /autoware/planning/topic_rate_check/trajectory }
- { type: link, link: /autoware/planning/trajectory_validation }

- path: /autoware/planning/trajectory_validation
Expand Down Expand Up @@ -35,11 +34,6 @@ units:
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
name: planning_topic_status

- path: /autoware/planning/trajectory_validation/finite
type: diag
node: planning_validator
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