wip

Signed-off-by: mitsudome-r <[email protected]>

docs/how-to-guides/configuring-system-error-monitor.md

@@ -16,8 +16,6 @@ This page explains how users can configure `system_error_monitor` for Autoware f
 
 ## 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.
@@ -35,3 +33,24 @@ Add new argument `use_emergency_handling` to control.launch.py.
     </include>
   </group>
 ```
+
+### Adding new topic monitoring
+By default, only few of the topics are monitored as default.
+You can add new topic monitor by modifying `topics.yaml` file.
+
+For example, you can add new topic `/planning/scenario_planning/lane_driving/behavior_planning/path` as monitoring target, you can add the following lines to the yaml file:
+
+```
+- module: planning
+  mode: [online, planning_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: scenario_planning_path
+    topic: /planning/scenario_planning/lane_driving/behavior_planning/path
+    topic_type: autoware_auto_planning_msgs/msg/Path
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+```