feat: set use_external_emergency_stop to false by default when launch…

…ing psim (#540) * feat: set use_external_emergency_stop to false by default when launching psim Signed-off-by: Azumi Suzuki <[email protected]> * feat: add comments Signed-off-by: Azumi Suzuki <[email protected]> Signed-off-by: Azumi Suzuki <[email protected]>
tier4 · Nov 15, 2022 · 03fa6d3 · 03fa6d3
1 parent e1ed860
commit 03fa6d3
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Showing 2 changed files with 4 additions and 0 deletions.
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -65,6 +65,8 @@
       <arg name="lateral_controller_mode" value="mpc_follower" />
       <!-- options for longitudinal_controller_mode: pid -->
       <arg name="longitudinal_controller_mode" value="pid" />
+      <!-- Options for external emergency stop module. Heartbeat topic is required if this is true. -->
+      <arg name="use_external_emergency_stop" value="false" />
     </include>
   </group>
 

diff --git 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="use_external_emergency_stop" default="true"/>
 
   <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
     <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)" />
@@ -14,6 +15,7 @@
     <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="$(var shift_decider_param_path)"/>
+    <arg name="use_external_emergency_stop" value="$(var use_external_emergency_stop)"/>
   </include>
 
 </launch>