From cada67db289ad536611a43e76c2df47c29ed6b34 Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com>
Date: Fri, 24 May 2024 20:41:58 +0900
Subject: [PATCH] feat: add diagnostic graph settings (#991)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 .../launch/components/tier4_system_component.launch.xml   | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 9fac31c3af..40f154e6a0 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -27,10 +27,10 @@
     <arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
     <arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>
 
-    <arg name="use_diagnostic_graph" value="false"/>
+    <arg name="use_emergency_handler" value="true"/>
     <arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
-    <!-- <arg name="diagnostic_graph_aggregator_param_path" value=""/>  Set the value if use_diagnostic_graph is true. -->
-    <!-- <arg name="diagnostic_graph_aggregator_graph_path" value=""/>  Set the value if use_diagnostic_graph is true. -->
-    <!-- <arg name="diagnostic_graph_aggregator_planning_simulator_graph_path" value=""/>  Set the value if use_diagnostic_graph is true. -->
+    <arg name="diagnostic_graph_aggregator_param_path" value="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
+    <arg name="diagnostic_graph_aggregator_graph_path_main" value="$(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml"/>
+    <arg name="diagnostic_graph_aggregator_graph_path_psim" value="$(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml"/>
   </include>
 </launch>