[Proposal] Replace default diagnostics aggregation and MRM (Minimum Risk Maneuver) execution nodes

[mkuri]

Proposal

We would like to replace the new diagnostics aggregation and MRM (Minimum Risk Maneuver) execution method to make the following improvements.

• To select an arbitrary MRM based on the failure mode
• To consider system redundancy design in MRM decisions

Related links

• Improve diagnostics aggregation method autoware_universe#3829
• feat(tier4_system_launch): use mrm handler by default autoware_universe#7728
• feat(autoware_launch): use mrm handler by default autoware_launch#1043

Current design

Proposed design

Transition

We will deprecate the current design in June 2024.
A hazard status converter will be prepared for compatibility during the transition period.

[yukkysaito]

This one was discussed with me and @mitsudome-r
We plan to move to proposal design in the future. These functions will be exchanged in tier4_msgs, and when the design is finalized, we will submit a proposal to autoware_msgs in awf jurisdiction.

[isamu-takagi]

We will switch to mrm_handler with the following PR:

• feat(tier4_system_launch): use mrm handler by default autoware_universe#7728
• feat(autoware_launch): use mrm handler by default autoware_launch#1043

If you have your own configuration for system_error_monitor, you will need to rewrite the configuration for diagnostic_graph_aggregator. Check README for the format of diagnostic_graph_aggregator.

[veqcc]

We have deleted emergency_handler package by

• feat(emergency_handler): delete package autoware_universe#8917 (autoware.universe)
• feat(emergency_handler): delete package autoware_launch#1173 (autoware_launch)

[TetsuKawa]

We have deleted system_error_monitor package by

• feat(system_error_monitor): remove system error monitor autoware_universe#8929
• feat(system_error_monitor): delete system error monitor autoware_launch#1178

[hzkkk1997]

@mkuri I'm very sorry to disturb you. When I was learning the system components tier4_system_launch I found that there seemed to be no "autoware_error_monitor.launch.xml" file in autoware, and the current version seems to have deleted the originally existing" system_error_monitor "function package. May I ask if all of these are still being rebuilt? Or is it that there won't be this monitor anymore, and its functions will be integrated into the diagnostics_graph_aggregator node to the extent that various sensors can be diagnosed?