From d5d9ba38e62d550e74ea2266bd91a08f5bce0c34 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Tue, 19 Apr 2022 12:31:40 +0200
Subject: [PATCH] Added dogs project global analyzers
---
config/dogs_analyzers.yaml | 34 ++++++++++++++++++++++++++++++++++
launch/collisions.launch | 4 ++--
2 files changed, 36 insertions(+), 2 deletions(-)
create mode 100644 config/dogs_analyzers.yaml
diff --git a/config/dogs_analyzers.yaml b/config/dogs_analyzers.yaml
new file mode 100644
index 0000000..c68d436
--- /dev/null
+++ b/config/dogs_analyzers.yaml
@@ -0,0 +1,34 @@
+pub_rate: 1.0
+analyzers:
+ collision_detection:
+ type: diagnostic_aggregator/GenericAnalyzer
+ path: collision_detection
+ contains: [
+ 'imu',
+ 'collision',
+ 'odom']
+ ICP_check:
+ type: diagnostic_aggregator/GenericAnalyzer
+ path: icp_check
+ contains: [
+ 'odom',
+ 'laser']
+ bias_filter:
+ type: diagnostic_aggregator/GenericAnalyzer
+ path: bias_filter
+ contains: [
+ 'bias']
+ localization_fusion:
+ type: diagnostic_aggregator/GenericAnalyzer
+ path: localization_fusion
+ contains: [
+ 'AMCL',
+ 'lost',
+ 'pose',
+ 'localized']
+ landmarks_tracker:
+ type: diagnostic_aggregator/GenericAnalyzer
+ path: landmarks_tracker
+ contains: [
+ 'scan',
+ 'odom']
diff --git a/launch/collisions.launch b/launch/collisions.launch
index a04b990..7f4f9b4 100644
--- a/launch/collisions.launch
+++ b/launch/collisions.launch
@@ -8,7 +8,7 @@
<param name="/use_sim_time" value="$(arg sim_time)" />
<arg name="imu_driver" default="true"/>
<arg name="diagnostics" default="true"/>
- <arg name="diagnostics_agregator_config_file" default="$(find iri_collision_manager)/config/collision_analyzers.yaml" />
+ <arg name="diagnostics_agregator_config_file" default="$(find iri_collision_manager)/config/dogs_analyzers.yaml" />
<!-- IMU driver parameters -->
<arg name="imu_config_file" default="$(find iri_collision_manager)/config/bno055.yaml" />
@@ -88,7 +88,7 @@
if ="$(arg diagnostics)">
<!-- Load the file you made above -->
<rosparam command="load"
- file="$(find iri_collision_manager)/config/collision_analyzers.yaml" />
+ file="$(arg diagnostics_agregator_config_file)" />
</node>
</launch>
--
GitLab