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]

Thank you very much for your reply. When deploying Autoware for engineering purposes, it is generally necessary for designers to add extended diagnostic graphs based on the specific sensors and other hardware used to ensure the normal and safe operation of the autonomous driving system, right?

[maxime-clem]

It is a good idea to detect hardware faults if possible yes.