po

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
autowarefoundation · Nov 14, 2024 · fee6302 · fee6302
1 parent a9da3ea
commit fee6302
Showing 1 changed file with 21 additions and 21 deletions.
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
@@ -1,27 +1,13 @@
 files:
-  - { path: $(dirname)/map.yaml }
+  - { path: $(dirname)/control.yaml }
   - { path: $(dirname)/localization.yaml }
-  - { path: $(dirname)/planning.yaml }
+  - { path: $(dirname)/map.yaml }
   - { path: $(dirname)/perception.yaml }
-  - { path: $(dirname)/control.yaml }
-  - { path: $(dirname)/vehicle.yaml }
+  - { path: $(dirname)/planning.yaml }
   - { path: $(dirname)/system.yaml }
+  - { path: $(dirname)/vehicle.yaml }
 
 units:
-  - path: /autoware/modes/stop
-    type: ok
-
-  - path: /autoware/modes/autonomous
-    type: and
-    list:
-      - { type: link, link: /autoware/map }
-      - { type: link, link: /autoware/localization }
-      - { type: link, link: /autoware/planning }
-      - { type: link, link: /autoware/perception }
-      - { type: link, link: /autoware/control }
-      - { type: link, link: /autoware/vehicle }
-      - { type: link, link: /autoware/system }
-
   - path: /autoware/modes/local
     type: and
     list:
@@ -36,13 +22,21 @@ units:
       - { type: link, link: /autoware/system }
       - { type: link, link: /autoware/control/remote }
 
-  - path: /autoware/modes/emergency_stop
+  - path: /autoware/modes/stop
+    type: ok
+
+  - path: /autoware/modes/autonomous
     type: and
     list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
 
-  - path: /autoware/modes/comfortable_stop
+  - path: /autoware/modes/pull_over
     type: and
     list:
       - { type: link, link: /autoware/map }
@@ -53,7 +47,7 @@ units:
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
 
-  - path: /autoware/modes/pull_over
+  - path: /autoware/modes/comfortable_stop
     type: and
     list:
       - { type: link, link: /autoware/map }
@@ -64,6 +58,12 @@ units:
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
 
+  - path: /autoware/modes/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
   - path: /autoware/debug/tools
     type: and
     list: