From 7332aa8b7f55aa134252a8529028d1520c6d42e7 Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Wed, 14 Dec 2022 00:47:23 +0900 Subject: [PATCH] wip Signed-off-by: mitsudome-r --- .../configuring-system-error-monitor.md | 37 +++++++++++++++++++ 1 file changed, 37 insertions(+) diff --git a/docs/how-to-guides/configuring-system-error-monitor.md b/docs/how-to-guides/configuring-system-error-monitor.md index e69de29bb2d..ab1268639c3 100644 --- a/docs/how-to-guides/configuring-system-error-monitor.md +++ b/docs/how-to-guides/configuring-system-error-monitor.md @@ -0,0 +1,37 @@ +# Configuring System Error Monitor + +## Overview +Although Autoware repository has CI tests to do integration testing, there are always unkown error causing function failure. +This may include: +* Nodes terminates abnormally +* Nodes freezes without crashing and stops publishing message or causes drop in publish rate of message. +* Nodes functioning beyond it's designed state (e.g., losing its localization pose, large deviation from planned trajectory, etc) + +In order to detect such failure and trigger minimum risk manuever, we have system monitoring module. +This page explains how users can configure `system_error_monitor` for Autoware for their use case. + + +## Architecture + + +## Configuring Parameters + +### Adding new topic monitoring + +### Turning on Emergency Handler function +By default, Contorl module will ignore any emergency control sent from System Monitor Module. +This is because it is not always safe to make a sudden stop at node failure, and we would like the user to be aware of the function when it is turned on. +In order to turn on its function, modify the following launch file as shown below: + +https://github.com/autowarefoundation/autoware_launch/blob/515239b9f1d9c4161629f25c1b8e4c6ec62acfdd/autoware_launch/launch/autoware.launch.xml#L117 + +Add new argument `use_emergency_handling` to control.launch.py. +``` + + + + + + + +```