feat(hazard_lights_selector): add hazard_lights_selector (#581)

* hazard_lights_selector Signed-off-by: Mamoru Sobue <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Mamoru Sobue <[email protected]> Co-authored-by: soblin <[email protected]>
tier4 · Jun 25, 2024 · 4e48305 · 4e48305
1 parent f00363f
commit 4e48305
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/autoware_launch/config/system/hazard_lights_selector/hazard_lights_selector.param.yaml b/autoware_launch/config/system/hazard_lights_selector/hazard_lights_selector.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    update_rate: 10  # hazard lights command publish rate [Hz]
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -15,10 +15,10 @@
     <arg name="duplicated_node_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
     <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
-    <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
-    <arg name="system_error_monitor_planning_simulator_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml"/>
     <arg name="diagnostic_aggregator_vehicle_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml"/>
+    <arg name="system_error_monitor_planning_simulator_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml"/>
     <arg name="diagnostic_aggregator_system_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml"/>
+    <arg name="hazard_lights_selector_param_path" value="$(find-pkg-share autoware_launch)/config/system/hazard_lights_selector/hazard_lights_selector.param.yaml"/>
     <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml"/>
     <arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
     <arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>