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feat(component_state_monitor): monitor pose_estimator output (#5617) #1032

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Nov 22, 2023
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feat(component_state_monitor): monitor pose_estimator output (#5617) #1032

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13 changes: 13 additions & 0 deletions system/component_state_monitor/config/topics.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,19 @@
error_rate: 1.0
timeout: 1.0

- module: localization
mode: [online, logging_simulation]
type: autonomous
args:
node_name_suffix: pose_estimator_pose
topic: /localization/pose_estimator/pose_with_covariance
topic_type: geometry_msgs/msg/PoseWithCovarianceStamped
best_effort: false
transient_local: false
warn_rate: 5.0
error_rate: 1.0
timeout: 1.0

- module: perception
mode: [online, logging_simulation]
type: launch
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