Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(autoware_launch): add check_external_emergency_heartbeat option #253

Merged
merged 1 commit into from
Mar 23, 2023
Merged

feat(autoware_launch): add check_external_emergency_heartbeat option #253

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 0 additions & 1 deletion autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@
update_rate: 10.0
system_emergency_heartbeat_timeout: 0.5
use_emergency_handling: false
check_external_emergency_heartbeat: false
use_start_request: false
external_emergency_stop_heartbeat_timeout: 0.0
stop_hold_acceleration: -1.5
Expand Down
2 changes: 2 additions & 0 deletions autoware_launch/launch/autoware.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@
<!-- Vehicle -->
<arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
<arg name="launch_vehicle_interface" default="true" description="launch vehicle interface"/>
<!-- Control -->
<arg name="check_external_emergency_heartbeat" default="false"/>
<!-- Map -->
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
Expand Down
1 change: 1 addition & 0 deletions autoware_launch/launch/components/tier4_control_component.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
/>
<arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
<arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
<arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>

<!-- common param path -->
<arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/control/common/nearest_search.param.yaml"/>
Expand Down