From d59bf262a091f5facfff8ea628f9f83a91e75ac0 Mon Sep 17 00:00:00 2001
From: Hiroki OTA <hiroki.ota@tier4.jp>
Date: Thu, 17 Mar 2022 16:09:25 +0900
Subject: [PATCH] feat(system_error_monitor): add arg
 `extra_agg_config_file_system` to register user specific diag and delete
 tier4 specific diags (#537)

* feat: add 'extra_agg_config_file_system'

* feat: delete tier4 specific diag
---
 .../diagnostic_aggregator/system.param.yaml   | 20 -------------------
 .../launch/system_error_monitor.launch.xml    |  2 ++
 2 files changed, 2 insertions(+), 20 deletions(-)

diff --git a/system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml
index 2cea6cc97cb3e..2cc4bca27724a 100644
--- a/system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml
+++ b/system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml
@@ -20,26 +20,6 @@
           contains: [": emergency_stop_operation"]
           timeout: 1.0
 
-        driving_recorder:
-          type: diagnostic_aggregator/AnalyzerGroup
-          path: driving_recorder
-          analyzers:
-            storage_error:
-              type: diagnostic_aggregator/GenericAnalyzer
-              path: storage_error
-              contains: ["bagkeeper"]
-              timeout: 3.0
-
-        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
-
         resource_monitoring:
           type: diagnostic_aggregator/AnalyzerGroup
           path: resource_monitoring
diff --git a/system/system_error_monitor/launch/system_error_monitor.launch.xml b/system/system_error_monitor/launch/system_error_monitor.launch.xml
index 981fc8395a545..c35761d994262 100644
--- a/system/system_error_monitor/launch/system_error_monitor.launch.xml
+++ b/system/system_error_monitor/launch/system_error_monitor.launch.xml
@@ -17,6 +17,7 @@
   <arg name="agg_config_file_system" default="$(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/system.param.yaml" />
   <arg name="agg_config_file_vehicle" default="$(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/vehicle.param.yaml" />
   <arg name="extra_agg_config_file_sensing" default="$(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/_empty.param.yaml" />
+  <arg name="extra_agg_config_file_system" default="$(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/_empty.param.yaml" />
   <arg name="extra_agg_config_file_vehicle" default="$(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/_empty.param.yaml" />
 
   <group>
@@ -34,6 +35,7 @@
       <param from="$(var agg_config_file_system)" />
       <param from="$(var agg_config_file_vehicle)" />
       <param from="$(var extra_agg_config_file_sensing)" />
+      <param from="$(var extra_agg_config_file_system)" />
       <param from="$(var extra_agg_config_file_vehicle)" />
     </node>
   </group>