Autoware monitoring system: Implement Autoware Error Monitor

Description

graph TD
    classDef tier_iv fill:#f9f;
    classDef arm fill:#f96;

    subgraph Legend
    arm_to_implement[Arm To Implement]:::arm
    tier_iv_to_implement[Tier IV To Implement]:::tier_iv
    end

    subgraph Autoware Monitoring System
    state_monitor[Autoware State Monitor]:::tier_iv
    error_monitor[Autoware Error Monitor]:::arm
    eme_handler[emergency Handler]:::tier_iv
    monitor_events_topic{{/diagnostics}}:::arm
    end    

    subgraph Autoware Core Functionalities
    other_nodes_0[Autoware Node 0]
    other_nodes_1[Autoware Node 1]
    other_nodes_2[Autoware Node 2]
    other_nodes_3[Autoware Node 3]
    other_nodes_4[Autoware Node 4]
    end

    subgraph Vehicle Interface
    vehicle_controls[Vehicle Controls]
    end

    other_nodes_0 -->|/vehicle/engage| state_monitor
    other_nodes_1 -->|/vechicle/state_report| state_monitor
    other_nodes_2 -->|...| state_monitor
    other_nodes_3 --> |/vehicle/odometry| eme_handler
    other_nodes_4 --> |/vehicle/state_report| eme_handler
    other_nodes_2 --> |...| eme_handler


    other_nodes_0 -->|monitor API|monitor_events_topic
    other_nodes_1 -->|monitor API|monitor_events_topic
    other_nodes_2 -->|monitor API|monitor_events_topic
    other_nodes_3 -->|monitor API|monitor_events_topic
    other_nodes_4 -->|monitor API|monitor_events_topic

    monitor_events_topic --> error_monitor

    error_monitor -->|/vehicle/driving_capability|eme_handler
    state_monitor --> |/vehicle/engage|vehicle_controls

    eme_handler -->|/vehicle_emergency/vehicle_command|vehicle_controls
    eme_handler -->|/vehicle_emergency/hazard_status|vehicle_controls
    eme_handler -->|...|vehicle_controls
    state_monitor -->|/vehicle/state| vehicle_controls

Implement the error monitor in the Autoware monitoring system.

Purpose

The node monitors the running of every autoware node in order to make sure the system is running at an optimum rate.

Desired Behavior

Nodes in the autoware system emit diagnostic messages to the /diagnostic topic. The error monitor ingests these messages and makes a determination of the system state. The error monitor should then publish this as a driving capability message.

The error monitor should be able to determine complex failure conditions such as:

• if there are 2 modes of perception, only one mode fails, the vehicle can still perform normally.
• If there are 3 modes of localization, only one mode running slow, the vehicle is still capable of driving. This can be achieved by some user configuration, needs some further thought.

Definition of Done

• Implement the functionally
• Integrate with the rest of the monitoring system.