feat: use extra_agg_config_file_system and register bagpacker (#242)

tier4 · Mar 18, 2022 · ea089ea · ea089ea
1 parent 57df3eb
commit ea089ea
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diff --git a/system_launch/config/diagnostic_aggregator/system.param.yaml b/system_launch/config/diagnostic_aggregator/system.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  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/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
@@ -35,6 +35,7 @@
     <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
       <arg name="config_file" value="$(var config_file)" />
       <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
+      <arg name="extra_agg_config_file_system" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/system.param.yaml" />
       <arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
       <arg name="use_emergency_hold" value="false" />
     </include>