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chore: sync awf/autoware_launch #9

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merged 2 commits into from
Mar 24, 2023
Merged

chore: sync awf/autoware_launch #9

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97a0b4f
fix(behavior_path_planner): enable simlunateous executione (#258)
satoshi-ota Mar 23, 2023
391b8de
feat(autoware_launch): add check_external_emergency_heartbeat option …
takayuki5168 Mar 23, 2023
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1 change: 0 additions & 1 deletion autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
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Expand Up @@ -3,7 +3,6 @@
update_rate: 10.0
system_emergency_heartbeat_timeout: 0.5
use_emergency_handling: false
check_external_emergency_heartbeat: false
use_start_request: false
external_emergency_stop_heartbeat_timeout: 0.0
stop_hold_acceleration: -1.5
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2 changes: 1 addition & 1 deletion ...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
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Expand Up @@ -54,7 +54,7 @@

lane_change_left:
enable_module: true
enable_simultaneous_execution: false
enable_simultaneous_execution: true
priority: 5
max_module_size: 1

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2 changes: 2 additions & 0 deletions autoware_launch/launch/autoware.launch.xml
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Expand Up @@ -23,6 +23,8 @@
<!-- Vehicle -->
<arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
<arg name="launch_vehicle_interface" default="true" description="launch vehicle interface"/>
<!-- Control -->
<arg name="check_external_emergency_heartbeat" default="false"/>
<!-- Map -->
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
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1 change: 1 addition & 0 deletions autoware_launch/launch/components/tier4_control_component.launch.xml
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Expand Up @@ -25,6 +25,7 @@
/>
<arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
<arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
<arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>

<!-- common param path -->
<arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/control/common/nearest_search.param.yaml"/>
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