From bf5c41c05458bfc7db41a0f043adfbd3837a1aa6 Mon Sep 17 00:00:00 2001
From: ismet <ismet@leodrive.ai>
Date: Tue, 18 Jul 2023 15:43:21 +0300
Subject: [PATCH 1/5] update external_cmd_converter

Signed-off-by: ismetatabay <ismet@leodrive.ai>
---
 .../launch/components/tier4_control_component.launch.xml        | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 7b3169eacd..1618b149d0 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -5,6 +5,7 @@
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
   <arg name="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="use_raw_remote_control_command_input" default="true"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
@@ -41,5 +42,6 @@
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
     <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
+    <arg name="use_raw_remote_control_command_input" value="$(var use_raw_remote_control_command_input)"/>
   </include>
 </launch>

From 83ee394f075ecd0c488a42df0dbb282f7eff7ded Mon Sep 17 00:00:00 2001
From: ismet <ismet@leodrive.ai>
Date: Tue, 18 Jul 2023 18:39:50 +0300
Subject: [PATCH 2/5] update default value

Signed-off-by: ismetatabay <ismet@leodrive.ai>
---
 .../launch/components/tier4_control_component.launch.xml        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 1618b149d0..3e04467979 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -5,7 +5,7 @@
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
   <arg name="enable_autonomous_emergency_braking" default="false"/>
-  <arg name="use_raw_remote_control_command_input" default="true"/>
+  <arg name="use_raw_remote_control_command_input" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>

From dce8293e8fd3ed7a488e00774f23e4278968b229 Mon Sep 17 00:00:00 2001
From: ismetatabay <ismet@leodrive.ai>
Date: Wed, 26 Jul 2023 20:30:47 +0300
Subject: [PATCH 3/5] update argument name

Signed-off-by: ismetatabay <ismet@leodrive.ai>
---
 .../launch/components/tier4_control_component.launch.xml      | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 3e04467979..7e62abfd1f 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -5,7 +5,7 @@
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
   <arg name="enable_autonomous_emergency_braking" default="false"/>
-  <arg name="use_raw_remote_control_command_input" default="false"/>
+  <arg name="enable_cmd_limit_filter" default="true"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
@@ -42,6 +42,6 @@
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
     <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
-    <arg name="use_raw_remote_control_command_input" value="$(var use_raw_remote_control_command_input)"/>
+    <arg name="enable_cmd_limit_filter" value="$(var enable_cmd_limit_filter)"/>
   </include>
 </launch>

From 4232d34e01f5b77f9812de91aa3f5a73379a8710 Mon Sep 17 00:00:00 2001
From: ismetatabay <ismet@leodrive.ai>
Date: Thu, 17 Aug 2023 10:54:23 +0300
Subject: [PATCH 4/5] move enable_cmd_limit_filter argument to param file

Signed-off-by: ismetatabay <ismet@leodrive.ai>
---
 .../config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 2 ++
 .../launch/components/tier4_control_component.launch.xml        | 2 --
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index 522cc3a1ca..780a39e424 100644
--- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -3,7 +3,9 @@
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: false
+    check_external_emergency_heartbeat: false
     use_start_request: false
+    enable_cmd_limit_filter: false
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 01c388d56f..8b29135048 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -5,7 +5,6 @@
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
   <arg name="enable_autonomous_emergency_braking" default="false"/>
-  <arg name="enable_cmd_limit_filter" default="true"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
@@ -43,6 +42,5 @@
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
     <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
-    <arg name="enable_cmd_limit_filter" value="$(var enable_cmd_limit_filter)"/>
   </include>
 </launch>

From 407949082b91939f77e400e6250bfa14a222f2c2 Mon Sep 17 00:00:00 2001
From: ismetatabay <ismet@leodrive.ai>
Date: Tue, 22 Aug 2023 12:08:44 +0300
Subject: [PATCH 5/5] update enable_cmd_filter default value

Signed-off-by: ismetatabay <ismet@leodrive.ai>
---
 .../config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index 780a39e424..cc5aa910e5 100644
--- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -5,7 +5,7 @@
     use_emergency_handling: false
     check_external_emergency_heartbeat: false
     use_start_request: false
-    enable_cmd_limit_filter: false
+    enable_cmd_limit_filter: true
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4