From b3b834f0332763d2828bd3ce51d469846ad95f03 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Fri, 10 Sep 2021 13:14:29 +0900 Subject: [PATCH] Use EmergencyState instead of deprecated EmergencyMode (#390) * Use EmergencyState instead of deprecated EmergencyMode Signed-off-by: Kenji Miyake * Update control.launch.py --- control_launch/launch/control.launch.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 64073da1ba4fb..40110f64c3696 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -174,8 +174,7 @@ def launch_setup(context, *args, **kwargs): plugin='VehicleCmdGate', name='vehicle_cmd_gate', remappings=[ - ('input/system_emergency', '/system/emergency/is_emergency'), - ('input/emergency', '/system/emergency/is_emergency'), + ('input/emergency_state', '/system/emergency/emergency_state'), ('input/steering', '/vehicle/status/steering'), ('input/auto/control_cmd', 'trajectory_follower/control_cmd'), @@ -185,7 +184,7 @@ def launch_setup(context, *args, **kwargs): ('input/external/control_cmd', '/external/selected/control_cmd'), ('input/external/turn_signal_cmd', '/external/selected/turn_signal_cmd'), ('input/external/shift_cmd', '/external/selected/shift_cmd'), - ('input/external_emergency_stop', '/external/selected/heartbeat'), + ('input/external_emergency_stop_heartbeat', '/external/selected/heartbeat'), ('input/gate_mode', '/control/gate_mode_cmd'), ('input/emergency/control_cmd', '/system/emergency/control_cmd'),