From f32f0d4006183cd8ded2163675ae062de0171551 Mon Sep 17 00:00:00 2001
From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com>
Date: Fri, 20 Sep 2024 13:34:23 +0900
Subject: [PATCH 1/3] refactor(system_monitor/ntp_monitor):
 add-missing-parameters (#1174)

refactor: add-missing-parameters

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
---
 .../config/system/system_monitor/ntp_monitor.param.yaml          | 1 +
 1 file changed, 1 insertion(+)

diff --git a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml
index db54f70d1c..c731865c9e 100644
--- a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml
+++ b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml
@@ -3,3 +3,4 @@
     server: ntp.nict.jp
     offset_warn: 0.1
     offset_error: 5.0
+    timeout: 5

From ccf736d913838c5a566d4e7fbb70349bdd7af33c Mon Sep 17 00:00:00 2001
From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com>
Date: Fri, 20 Sep 2024 13:34:35 +0900
Subject: [PATCH 2/3] refactor(system_monitor/net_monitor):
 remove-missing-patameters (#1175)

refactor: remove-missing-patameters

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
---
 .../config/system/system_monitor/net_monitor.param.yaml          | 1 -
 1 file changed, 1 deletion(-)

diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
index d72b8d1334..5d5c1bd7bd 100644
--- a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
+++ b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
@@ -1,7 +1,6 @@
 /**:
   ros__parameters:
       devices: ["*"]
-      traffic_reader_port: 7636
       monitor_program: "greengrass"
       crc_error_check_duration: 1
       crc_error_count_threshold: 1

From 90cf23ef664e43099a4765662b83cfb938d0e83b Mon Sep 17 00:00:00 2001
From: Ryuta Kambe <ryuta.kambe@tier4.jp>
Date: Fri, 20 Sep 2024 14:16:49 +0900
Subject: [PATCH 3/3] feat(emergency_handler): delete package (#1173)

* feat(emergency_handler): delete package

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
---
 .../emergency_handler/emergency_handler.param.yaml | 14 --------------
 .../components/tier4_system_component.launch.xml   |  2 --
 2 files changed, 16 deletions(-)
 delete mode 100644 autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml

diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
deleted file mode 100644
index 652a984ce5..0000000000
--- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
+++ /dev/null
@@ -1,14 +0,0 @@
-# Default configuration for emergency handler
----
-/**:
-  ros__parameters:
-    update_rate: 10
-    timeout_hazard_status: 0.5
-    timeout_takeover_request: 10.0
-    use_takeover_request: false
-    use_parking_after_stopped: false
-    use_comfortable_stop: false
-
-    # 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
index d17925549b..cbe58f2425 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -11,7 +11,6 @@
     <arg name="sensor_model" value="$(var sensor_model)"/>
 
     <arg name="component_state_monitor_topic_path" value="$(find-pkg-share autoware_launch)/config/system/component_state_monitor/topics.yaml"/>
-    <arg name="emergency_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/emergency_handler/emergency_handler.param.yaml"/>
     <arg name="duplicated_node_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml"/>
     <arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
@@ -30,7 +29,6 @@
     <arg name="system_monitor_process_monitor_param_path" value="$(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_emergency_handler" value="false"/>
     <arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
     <arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
     <arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>