From 4e48305a270640e2f16bc0fd4f0aa863a5e67a70 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <mamoru.sobue@tier4.jp>
Date: Tue, 12 Mar 2024 00:22:32 +0900
Subject: [PATCH] feat(hazard_lights_selector): add hazard_lights_selector
 (#581)

* hazard_lights_selector

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Co-authored-by: soblin <soblin@users.noreply.github.com>
---
 .../hazard_lights_selector/hazard_lights_selector.param.yaml  | 3 +++
 .../launch/components/tier4_system_component.launch.xml       | 4 ++--
 2 files changed, 5 insertions(+), 2 deletions(-)
 create mode 100644 autoware_launch/config/system/hazard_lights_selector/hazard_lights_selector.param.yaml

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
new file mode 100644
index 0000000000..68273fd990
--- /dev/null
+++ 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
index 6fda11ac7a..b6dea867fe 100644
--- 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"/>