From b181ae1efb3d3a72c3af237be998a6674bcc3b81 Mon Sep 17 00:00:00 2001
From: Go Sakayori <gsakayori@gmail.com>
Date: Thu, 7 Nov 2024 12:07:59 +0900
Subject: [PATCH] enable collision_detector

Signed-off-by: Go Sakayori <gsakayori@gmail.com>
---
 .../config/system/system_diagnostic_monitor/control.yaml    | 6 ++++++
 .../launch/components/tier4_control_component.launch.xml    | 2 +-
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
index 5551ed4575..32877af749 100644
--- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
+++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
@@ -9,6 +9,7 @@ units:
       - { type: link, link: /autoware/control/performance_monitoring/lane_departure }
       - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
       - { type: link, link: /autoware/control/performance_monitoring/control_state }
+      - { type: link, link: /autoware/control/collision_detector}
 
   - path: /autoware/control/local
     type: and
@@ -66,3 +67,8 @@ units:
     type: diag
     node: external_cmd_converter
     name: remote_control_topic_status
+
+  - path: /autoware/control/collision_detector
+    type: diag
+    node: collision_detector
+    name: collision_detect
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 64061ce176..095d0a2c60 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -6,7 +6,7 @@
   <arg name="use_individual_control_param" default="false"/>
   <arg name="enable_autonomous_emergency_braking" default="true"/>
   <arg name="enable_predicted_path_checker" default="false"/>
-  <arg name="enable_collision_detector" default="false"/>
+  <arg name="enable_collision_detector" 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)"/>