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

…efoundation#9263) (#1647) * set global param to override autoware state check * change variable to be more general * add comment * move param to control component launch * change param name to be more straightforward --------- Signed-off-by: Daniel Sanchez <[email protected]>
tier4 · Nov 15, 2024 · 8cc9efe · 8cc9efe
1 parent 0a881f3
commit 8cc9efe
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml
@@ -4,6 +4,7 @@
   <arg name="lateral_controller_mode"/>
   <arg name="longitudinal_controller_mode"/>
   <arg name="enable_autonomous_emergency_braking"/>
+  <arg name="use_aeb_autoware_state_check"/>
   <arg name="check_external_emergency_heartbeat"/>
   <arg name="trajectory_follower_mode" default="trajectory_follower_node"/>
 
@@ -195,6 +196,7 @@
         <remap from="~/input/objects" to="/perception/obstacle_segmentation/objects"/>
         <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
         <param from="$(var aeb_param_path)"/>
+        <param name="check_autoware_state" value="$(var use_aeb_autoware_state_check)"/>
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
     </load_composable_node>