fix(velodyne monitor): fix warning and error threshold of hot tempera…

…ture (#1623) * fix(velodyne_monitor): fix warning and error threshold of hot temperature * doc: update README * doc: fix typo * doc: update README * feat: add config file for each model Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * Update Readme.md * Update Readme.md * fix: typo Signed-off-by: h-ohta <hiroki.ota@tier4.jp> Signed-off-by: h-ohta <hiroki.ota@tier4.jp>
autowarefoundation · Aug 24, 2022 · df06f93 · df06f93
1 parent 363473a
commit df06f93
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Showing 7 changed files with 57 additions and 3 deletions.
diff --git a/system/velodyne_monitor/Readme.md b/system/velodyne_monitor/Readme.md
@@ -58,6 +58,20 @@ None
 | `rpm_ratio_warn`  | double | 0.80            | If the rpm rate of the motor (= current rpm / default rpm) is lower than this value, the diagnostics status becomes WARN  |
 | `rpm_ratio_error` | double | 0.70            | If the rpm rate of the motor (= current rpm / default rpm) is lower than this value, the diagnostics status becomes ERROR |
 
+### Config files
+
+Config files for several velodyne models are prepared.
+The `temp_**` parameters are set with reference to the operational temperature from each datasheet.
+Now, `VLP-16.param.yaml` is used as default argument because it is lowest spec.
+
+| Model Name     | Config name               | Operational Temperature [℃] |
+| -------------- | ------------------------- | --------------------------- |
+| VLP-16         | VLP-16.param.yaml         | -10 to 60                   |
+| VLP-32C        | VLP-32C.param.yaml        | -20 to 60                   |
+| VLS-128        | VLS-128.param.yaml        | -20 to 60                   |
+| Velarray M1600 | Velarray_M1600.param.yaml | -40 to 85                   |
+| HDL-32E        | HDL-32E.param.yaml        | -10 to 60                   |
+
 ## Assumptions / Known limits
 
 TBD.
diff --git a/...onitor/config/velodyne_monitor.param.yaml → ...elodyne_monitor/config/HDL-32E.param.yaml b/...onitor/config/velodyne_monitor.param.yaml → ...elodyne_monitor/config/HDL-32E.param.yaml
@@ -4,7 +4,7 @@
     timeout: 5.0
     temp_cold_warn: -5.0
     temp_cold_error: -10.0
-    temp_hot_warn: 75.0
-    temp_hot_error: 80.0
+    temp_hot_warn: 55.0
+    temp_hot_error: 60.0
     rpm_ratio_warn: 0.80
     rpm_ratio_error: 0.70
diff --git a/system/velodyne_monitor/config/VLP-16.param.yaml b/system/velodyne_monitor/config/VLP-16.param.yaml
@@ -0,0 +1,10 @@
+---
+/**:
+  ros__parameters:
+    timeout: 5.0
+    temp_cold_warn: -5.0
+    temp_cold_error: -10.0
+    temp_hot_warn: 55.0
+    temp_hot_error: 60.0
+    rpm_ratio_warn: 0.80
+    rpm_ratio_error: 0.70
diff --git a/system/velodyne_monitor/config/VLP-32C.param.yaml b/system/velodyne_monitor/config/VLP-32C.param.yaml
@@ -0,0 +1,10 @@
+---
+/**:
+  ros__parameters:
+    timeout: 5.0
+    temp_cold_warn: -15.0
+    temp_cold_error: -20.0
+    temp_hot_warn: 55.0
+    temp_hot_error: 60.0
+    rpm_ratio_warn: 0.80
+    rpm_ratio_error: 0.70
diff --git a/system/velodyne_monitor/config/VLS-128.param.yaml b/system/velodyne_monitor/config/VLS-128.param.yaml
@@ -0,0 +1,10 @@
+---
+/**:
+  ros__parameters:
+    timeout: 5.0
+    temp_cold_warn: -15.0
+    temp_cold_error: -20.0
+    temp_hot_warn: 55.0
+    temp_hot_error: 60.0
+    rpm_ratio_warn: 0.80
+    rpm_ratio_error: 0.70
diff --git a/system/velodyne_monitor/config/Velarray_M1600.param.yaml b/system/velodyne_monitor/config/Velarray_M1600.param.yaml
@@ -0,0 +1,10 @@
+---
+/**:
+  ros__parameters:
+    timeout: 5.0
+    temp_cold_warn: -35.0
+    temp_cold_error: -40.0
+    temp_hot_warn: 80.0
+    temp_hot_error: 85.0
+    rpm_ratio_warn: 0.80
+    rpm_ratio_error: 0.70
diff --git a/system/velodyne_monitor/launch/velodyne_monitor.launch.xml b/system/velodyne_monitor/launch/velodyne_monitor.launch.xml
@@ -1,5 +1,5 @@
 <launch>
-  <arg name="velodyne_monitor_param_file" default="$(find-pkg-share velodyne_monitor)/config/velodyne_monitor.param.yaml"/>
+  <arg name="velodyne_monitor_param_file" default="$(find-pkg-share velodyne_monitor)/config/VLP-16.param.yaml"/>
   <arg name="ip_address" default="192.168.1.201"/>
 
   <node pkg="velodyne_monitor" exec="velodyne_monitor" name="velodyne_monitor" output="log" respawn="true">