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 <[email protected]> * change variable for a more generic name Signed-off-by: Daniel Sanchez <[email protected]> * set var to false by default Signed-off-by: Daniel Sanchez <[email protected]> * move param to control component launch Signed-off-by: Daniel Sanchez <[email protected]> * change param name to be more straightforward Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
tier4 · Nov 15, 2024 · ab5aec3 · ab5aec3
1 parent 7e1f2ce
commit ab5aec3
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/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>