From 8cc9efee34722a1cecb7727eca93e6ddda7374d2 Mon Sep 17 00:00:00 2001
From: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Fri, 15 Nov 2024 12:21:29 +0900
Subject: [PATCH] feat(aeb): set global param to override autoware state check
 (#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 <danielsanchezaran@gmail.com>
---
 launch/tier4_control_launch/launch/control.launch.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml
index 0eda6faaf4e05..04ff669e5fc62 100644
--- 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>