From 03fa6d36918efc996a9f39f0d551941239faac22 Mon Sep 17 00:00:00 2001
From: Azumi Suzuki <38061530+s-azumi@users.noreply.github.com>
Date: Tue, 15 Nov 2022 18:18:31 +0900
Subject: [PATCH] feat: set use_external_emergency_stop to false by default
 when launching psim (#540)

* feat: set use_external_emergency_stop to false by default when launching psim

Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>

* feat: add comments

Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>

Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>
---
 autoware_launch/launch/planning_simulator.launch.xml | 2 ++
 control_launch/launch/control.launch.xml             | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index d6fb81567..2d0ca670d 100644
--- 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
index db899b457..ad2fb24a1 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="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>