feat: set use_external_emergency_stop to false by default when launch…

…ing psim (autowarefoundation#109) Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp> Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>
keiota · Nov 15, 2022 · 5afc80e · 5afc80e
1 parent 9e2a9a6
commit 5afc80e
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Showing 2 changed files with 5 additions and 0 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -36,6 +36,8 @@
   <arg name="launch_web_controller" default="true" description="launch web controller"/>
   <!-- Perception -->
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
+  <!-- Control -->
+  <arg name="use_external_emergency_stop" default="true" description="use external emergency stop"/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -123,6 +125,7 @@
       <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="vehicle_id" value="$(var vehicle_id)"/>
       <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
+      <arg name="use_external_emergency_stop" value="$(var use_external_emergency_stop)"/>
     </include>
   </group>
 

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -55,6 +55,8 @@
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>
       <arg name="launch_web_controller" value="$(var launch_web_controller)"/>
+      <!-- Control -->
+      <arg name="use_external_emergency_stop" value="false"/>
     </include>
   </group>