feat(aeb): set global param to override autoware state check (autowar…

…efoundation#1218)

* set global param to override autoware state check

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* change variable for a more generic name

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* set var to false by default

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* move param to control component launch

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* change param name to be more straightforward

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

autoware_launch/launch/components/tier4_control_component.launch.xml

@@ -4,6 +4,7 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
+  <arg name="use_aeb_autoware_state_check" default="true"/>
   <arg name="enable_autonomous_emergency_braking" default="false"/>
   <arg name="enable_predicted_path_checker" default="false"/>
 
@@ -41,6 +42,7 @@
     <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/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
+    <arg name="use_aeb_autoware_state_check" value="$(var use_aeb_autoware_state_check)"/>
     <arg name="enable_predicted_path_checker" value="$(var enable_predicted_path_checker)"/>
     <arg name="predicted_path_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/predicted_path_checker/predicted_path_checker.param.yaml"/>
   </include>