From 584e87fc59923da9dcad417c20470e55c872f637 Mon Sep 17 00:00:00 2001
From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com>
Date: Tue, 24 Sep 2024 10:59:08 +0900
Subject: [PATCH] feat(system_error_monitor): delete system error monitor
 (#1178)

feat: delete system error monitor

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
---
 .../diagnostic_aggregator/system.param.yaml   | 15 -----
 .../diagnostic_aggregator/vehicle.param.yaml  | 11 ----
 .../system_error_monitor.awsim.param.yaml     | 55 ------------------
 .../system_error_monitor.param.yaml           | 56 -------------------
 ...ror_monitor.planning_simulation.param.yaml | 54 ------------------
 autoware_launch/launch/autoware.launch.xml    |  1 -
 .../tier4_system_component.launch.xml         |  5 --
 .../launch/e2e_simulator.launch.xml           |  6 --
 8 files changed, 203 deletions(-)
 delete mode 100644 autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
 delete mode 100644 autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml
 delete mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
 delete mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
 delete mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml

diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
deleted file mode 100644
index 27cbe3fed2..0000000000
--- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-/**:
-  ros__parameters:
-    system:
-      type: diagnostic_aggregator/AnalyzerGroup
-      path: system
-      analyzers:
-        debug_data_logger:
-          type: diagnostic_aggregator/AnalyzerGroup
-          path: debug_data_logger
-          analyzers:
-            storage_error:
-              type: diagnostic_aggregator/GenericAnalyzer
-              path: storage_error
-              contains: ["bagpacker"]
-              timeout: 3.0
diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml
deleted file mode 100644
index e96e3b3b05..0000000000
--- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-/**:
-  ros__parameters:
-    vehicle:
-      type: diagnostic_aggregator/AnalyzerGroup
-      path: vehicle
-      analyzers:
-        vehicle_errors:
-          type: diagnostic_aggregator/GenericAnalyzer
-          path: vehicle_errors
-          contains: [": vehicle_errors"]
-          timeout: 1.0
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
deleted file mode 100644
index 9710e1a1e4..0000000000
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
+++ /dev/null
@@ -1,55 +0,0 @@
-# Description:
-#   name: diag name
-#   sf_at: diag level where it becomes Safe Fault
-#   lf_at: diag level where it becomes Latent Fault
-#   spf_at: diag level where it becomes Single Point Fault
-#   auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
-#
-# Note:
-# empty-value for sf_at, lf_at and spf_at is "none"
-# default values are:
-#   sf_at: "none"
-#   lf_at: "warn"
-#   spf_at: "error"
-#   auto_recovery: "true"
----
-/**:
-  ros__parameters:
-    required_modules:
-      autonomous_driving:
-        /autoware/control/autonomous_driving/node_alive_monitoring: default
-        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-
-        /autoware/localization/node_alive_monitoring: default
-        /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_stability: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
-        /autoware/map/node_alive_monitoring: default
-
-        /autoware/perception/node_alive_monitoring: default
-
-        /autoware/planning/node_alive_monitoring: default
-        /autoware/planning/performance_monitoring/trajectory_validation: default
-
-        # /autoware/sensing/node_alive_monitoring: default
-        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
-        /autoware/vehicle/node_alive_monitoring: default
-
-      external_control:
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
-        /autoware/vehicle/node_alive_monitoring: default
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
deleted file mode 100644
index c1821a05ab..0000000000
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ /dev/null
@@ -1,56 +0,0 @@
-# Description:
-#   name: diag name
-#   sf_at: diag level where it becomes Safe Fault
-#   lf_at: diag level where it becomes Latent Fault
-#   spf_at: diag level where it becomes Single Point Fault
-#   auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
-#
-# Note:
-# empty-value for sf_at, lf_at and spf_at is "none"
-# default values are:
-#   sf_at: "none"
-#   lf_at: "warn"
-#   spf_at: "error"
-#   auto_recovery: "true"
----
-/**:
-  ros__parameters:
-    required_modules:
-      autonomous_driving:
-        /autoware/control/autonomous_driving/node_alive_monitoring: default
-        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-
-        /autoware/localization/node_alive_monitoring: default
-        /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_error_ellipse: default
-        /autoware/localization/performance_monitoring/localization_stability: default
-        /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" }
-
-        /autoware/map/node_alive_monitoring: default
-
-        /autoware/perception/node_alive_monitoring: default
-
-        /autoware/planning/node_alive_monitoring: default
-        /autoware/planning/performance_monitoring/trajectory_validation: default
-
-        # /autoware/sensing/node_alive_monitoring: default
-        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
-        /autoware/system/duplicated_node_checker: default
-
-        /autoware/vehicle/node_alive_monitoring: default
-
-      external_control:
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
-        /autoware/vehicle/node_alive_monitoring: default
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
deleted file mode 100644
index 8b76c48ac7..0000000000
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
+++ /dev/null
@@ -1,54 +0,0 @@
-# Description:
-#   name: diag name
-#   sf_at: diag level where it becomes Safe Fault
-#   lf_at: diag level where it becomes Latent Fault
-#   spf_at: diag level where it becomes Single Point Fault
-#   auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
-#
-# Note:
-# empty-value for sf_at, lf_at and spf_at is "none"
-# default values are:
-#   sf_at: "none"
-#   lf_at: "warn"
-#   spf_at: "error"
-#   auto_recovery: "true"
----
-/**:
-  ros__parameters:
-    required_modules:
-      autonomous_driving:
-        /autoware/control/autonomous_driving/node_alive_monitoring: default
-        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
-        /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-
-        /autoware/localization/node_alive_monitoring: default
-        # /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        # /autoware/localization/performance_monitoring/localization_error_ellipse: default
-        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
-        /autoware/map/node_alive_monitoring: default
-
-        /autoware/perception/node_alive_monitoring: default
-
-        /autoware/planning/node_alive_monitoring: default
-        /autoware/planning/performance_monitoring/trajectory_validation: default
-
-        # /autoware/sensing/node_alive_monitoring: default
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
-        /autoware/system/duplicated_node_checker: default
-
-        /autoware/vehicle/node_alive_monitoring: default
-
-      external_control:
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
-        /autoware/vehicle/node_alive_monitoring: default
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index f5bd2be038..d3f56eb249 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -36,7 +36,6 @@
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <arg name="system_error_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
   <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml" description="diagnostic graph config"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index cbe58f2425..fa5056b9d9 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="system_error_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
   <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
   <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
 
@@ -15,10 +14,6 @@
     <arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
     <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
-    <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
-    <arg name="system_error_monitor_planning_simulator_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml"/>
-    <arg name="diagnostic_aggregator_vehicle_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml"/>
-    <arg name="diagnostic_aggregator_system_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml"/>
     <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml"/>
     <arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
     <arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 347e3c977c..c9ca1dd49f 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -32,11 +32,6 @@
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <arg
-    name="system_error_monitor_param_path"
-    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
-    description="system error monitor param path"
-  />
   <!-- Sensing -->
   <arg name="launch_sensing_driver" default="false"/>
   <!-- Tools -->
@@ -73,7 +68,6 @@
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
       <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>