From a5076ee40ff489f8fc9e1afc7ac7c3f05e226c6f Mon Sep 17 00:00:00 2001
From: Hiroki OTA <hiroki.ota@tier4.jp>
Date: Tue, 15 Nov 2022 19:49:30 +0900
Subject: [PATCH] fix: modified to reflect the argument "initial_selector_mode"
 in control launch (porting #496) (#564)

fix: modified to reflect the argument "initial_selector_mode" in control launch (#496)

Co-authored-by: Azumi Suzuki <38061530+s-azumi@users.noreply.github.com>
---
 control_launch/launch/control.launch.py  | 2 +-
 control_launch/launch/control.launch.xml | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
index 7c22e7e7a3..55f159ddf3 100644
--- a/control_launch/launch/control.launch.py
+++ b/control_launch/launch/control.launch.py
@@ -206,7 +206,7 @@ def launch_setup(context, *args, **kwargs):
         launch_arguments=[
             ("use_intra_process", LaunchConfiguration("use_intra_process")),
             ("target_container", "/control/control_container"),
-            ("initial_selector_mode", "remote"),
+            ("initial_selector_mode", LaunchConfiguration("initial_selector_mode")),
         ],
     )
 
diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml
index ad2fb24a14..ee4cd99d6e 100644
--- a/control_launch/launch/control.launch.xml
+++ b/control_launch/launch/control.launch.xml
@@ -6,6 +6,7 @@
   <arg name="vehicle_cmd_gate_param_path" default="$(find-pkg-share control_launch)/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml"/>
   <arg name="operation_mode_transition_manager_param_path" default="$(find-pkg-share control_launch)/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
   <arg name="shift_decider_param_path" default="$(find-pkg-share control_launch)/config/shift_decider/shift_decider.param.yaml"/>
+  <arg name="initial_selector_mode" default="remote"/>
   <arg name="use_external_emergency_stop" default="true"/>
 
   <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
@@ -15,6 +16,7 @@
     <arg name="vehicle_cmd_gate_param_path" value="$(var vehicle_cmd_gate_param_path)"/>
     <arg name="operation_mode_transition_manager_param_path" value="$(var operation_mode_transition_manager_param_path)"/>
     <arg name="shift_decider_param_path" value="$(var shift_decider_param_path)"/>
+    <arg name="initial_selector_mode" value="$(var initial_selector_mode)"/>
     <arg name="use_external_emergency_stop" value="$(var use_external_emergency_stop)"/>
   </include>