fix with autoware launch

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml

@@ -2,9 +2,9 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: $(var use_emergency_handling)
+    use_emergency_handling: false
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
-    use_start_request: $(var use_start_request)
+    use_start_request: false
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5
     filter_activated_velocity_threshold: 1.0

control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml

@@ -1,8 +1,6 @@
 <launch>
   <arg name="config_file" default="$(find-pkg-share vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml"/>
-  <arg name="use_emergency_handling" default="false"/>
   <arg name="check_external_emergency_heartbeat" default="true"/>
-  <arg name="use_start_request" default="false"/>
 
   <!-- vehicle info -->
   <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>

planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml

@@ -4,7 +4,7 @@
     max_velocity: 20.0                        # max velocity [m/s]
     ego_nearest_dist_threshold: 3.0           # [m]
     ego_nearest_yaw_threshold: 1.046          # [rad] = 60 [deg]
-    enable_slow_down: $(var enable_slow_down)  # whether to use slow down planner [-]
+    enable_slow_down: False                   # whether to use slow down planner [-]
     enable_z_axis_obstacle_filtering: True    # filter obstacles in z axis (height) [-]
     z_axis_filtering_buffer: 0.0              # additional buffer for z axis filtering [m]
     voxel_grid_x: 0.05                        # voxel grid x parameter for filtering pointcloud [m]

planning/obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml

@@ -6,7 +6,6 @@
   <!-- vehicle info -->
   <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
 
-  <arg name="enable_slow_down" default="false"/>
   <arg name="input_objects" default="/perception/object_recognition/objects"/>
   <arg name="input_pointcloud" default="input/pointcloud"/>
   <arg name="input_trajectory" default="input/trajectory"/>
@@ -19,7 +18,7 @@
     <!-- load config files -->
     <param from="$(var common_param_path)"/>
     <param from="$(var adaptive_cruise_control_param_path)"/>
-    <param from="$(var obstacle_stop_planner_param_path)" allow_substs="true"/>
+    <param from="$(var obstacle_stop_planner_param_path)"/>
     <param from="$(var vehicle_info_param_file)"/>
     <!-- remap topic name -->
     <remap from="~/output/stop_reason" to="/planning/scenario_planning/status/stop_reason"/>