From 39b51361df7de62b1d263276fc85154b2666bf2d Mon Sep 17 00:00:00 2001
From: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date: Thu, 10 Oct 2024 18:19:38 +0900
Subject: [PATCH] Remove emergency braking from autoware-psim.yaml and enable
 autonomous emergency braking in tier4_control_component.launch.xml

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 .../system/diagnostic_graph_aggregator/autoware-psim.yaml      | 3 ---
 .../launch/components/tier4_control_component.launch.xml       | 2 +-
 2 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
index e11f391606..dfc820f93c 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
@@ -1,5 +1,2 @@
 files:
   - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml }
-
-edits:
-  - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index bfa64229ee..a66ed49405 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,7 +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="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="enable_autonomous_emergency_braking" default="true"/>
   <arg name="enable_predicted_path_checker" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>