Issues related to fault diagnosis

[hzkkk1997]

In the latest version of Autoware, I noticed that a new method of fault graph has been introduced for system diagnosis. However, I observed that most of the faults in the configuration files are related to algorithm components. I would like to ask how Autoware diagnoses faults in sensor hardware, such as hardware faults of inertial navigation systems and LiDAR faults, etc. Please help me~~~

[maxime-clem]

Since this depends on the hardware used it is not considered in the default Autoware.
If you wanted to monitor hardware issues, you would need some node to report the hardware status as a diagnostic that is then aggregated by https://autowarefoundation.github.io/autoware.universe/main/system/autoware_diagnostic_graph_aggregator/

[hzkkk1997]

@maxime-clem I'm very sorry to disturb you. When I was learning the system components , I found that there seemed to be no "autoware_error_monitor.launch.xml" file in autoware, and the current version seems to have deleted the originally existing" system_error_monitor "function package. May I ask if all of these are still being rebuilt?

[maxime-clem]

The monitoring functions are launched from this file: https://github.com/autowarefoundation/autoware_universe/blob/main/launch/tier4_system_launch/launch/system.launch.xml

[hzkkk1997]

@maxime-clem Thank you very much for your reply. However, it seems that there is no startup command of xxx_error_monitor in this launch file.

[maxime-clem]

I found the related discussion: https://github.com/orgs/autowarefoundation/discussions/4176

[hzkkk1997]

@maxime-clem Hello, I'm very sorry to disturb you. Could you please take a look at this issue for me? Thank you very much.