Merge pull request autowarefoundation#605 from tier4/feat/launch-mrm-…

…handler * feat: add option to launch mrm handler (autowarefoundation#929) Signed-off-by: Takagi, Isamu <[email protected]> * chore: add option to select graph path depending on running mode (autowarefoundation#938) chore: add option of using graph path for simulation Signed-off-by: Tomohito Ando <[email protected]> * feat: add a param file of a mrm handler node (autowarefoundation#927) Signed-off-by: TetsuKawa <[email protected]> * feat: update config to launch mrm_handler Signed-off-by: Tomohito Ando <[email protected]> * feat(mrm_handler): enable comfortable stop Signed-off-by: Tomohito Ando <[email protected]> --------- Signed-off-by: Takagi, Isamu <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> Signed-off-by: TetsuKawa <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: TetsuKawa <[email protected]>
maxime-clem · Apr 2, 2024 · bcb3971 · bcb3971
2 parents 8cec562 + 5243424
commit bcb3971
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diff --git a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml
@@ -0,0 +1,17 @@
+# Default configuration for mrm handler
+---
+/**:
+  ros__parameters:
+    update_rate: 10
+    timeout_operation_mode_availability: 0.5
+    timeout_call_mrm_behavior: 0.01
+    timeout_cancel_mrm_behavior: 0.01
+    use_emergency_holding: false
+    timeout_emergency_recovery: 5.0
+    use_parking_after_stopped: false
+    use_pull_over: false
+    use_comfortable_stop: true
+
+    # setting whether to turn hazard lamp on for each situation
+    turning_hazard_on:
+      emergency: true
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -26,5 +26,11 @@
     <arg name="system_monitor_ntp_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/ntp_monitor.param.yaml"/>
     <arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
     <arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>
+
+    <arg name="use_diagnostic_graph" value="true"/>
+    <arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
+    <arg name="diagnostic_graph_aggregator_param_path" value="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
+    <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware.yaml"/>
+    <arg name="diagnostic_graph_aggregator_planning_simulator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml"/>
   </include>
 </launch>