Merge pull request autowarefoundation#559 from tier4/sync-awf-latest

chore: sync awf-latest
kminoda · Nov 14, 2022 · f653f1b · f653f1b
2 parents 5095161 + 959a202
commit f653f1b
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Showing 3 changed files with 25 additions and 1 deletion.
diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
@@ -147,6 +147,7 @@ def launch_setup(context, *args, **kwargs):
             ("input/emergency/control_cmd", "/system/emergency/control_cmd"),
             ("input/emergency/hazard_lights_cmd", "/system/emergency/hazard_lights_cmd"),
             ("input/emergency/gear_cmd", "/system/emergency/gear_cmd"),
+            ("input/mrm_state", "/system/fail_safe/mrm_state"),
             ("output/vehicle_cmd_emergency", "/control/command/emergency_cmd"),
             ("output/control_cmd", "/control/command/control_cmd"),
             ("output/gear_cmd", "/control/command/gear_cmd"),

diff --git a/system_launch/config/emergency_handler/emergency_handler.param.yaml b/system_launch/config/emergency_handler/emergency_handler.param.yaml
@@ -0,0 +1,12 @@
+/**:
+  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/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
@@ -45,8 +45,19 @@
 
     <!-- Emergency Handler -->
     <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/emergency_handler/emergency_handler.param.yaml"/>
       <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
-        <arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
+        <arg name="config_file" value="$(var config_file)" />
+      </include>
+    </group>
+
+    <!-- MRM Operator -->
+    <group>
+      <include file="$(find-pkg-share mrm_comfortable_stop_operator)/launch/mrm_comfortable_stop_operator.launch.py">
+        <arg name="config_file" value="$(find-pkg-share mrm_comfortable_stop_operator)/config/mrm_comfortable_stop_operator.param.yaml"/>
+      </include>
+      <include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
+        <arg name="config_file" value="$(find-pkg-share mrm_emergency_stop_operator)/config/mrm_emergency_stop_operator.param.yaml"/>
       </include>
     </group>