From 2cdd6b410970b3ff37fe4a578bd58038212a172a Mon Sep 17 00:00:00 2001
From: Owen-Liuyuxuan <uken.ryu@tier4.jp>
Date: Fri, 13 Oct 2023 15:17:37 +0800
Subject: [PATCH] add config inside launch

Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>
---
 .../duplicated_node_checker/duplicated_node_checker.param.yaml | 3 +++
 .../launch/components/tier4_system_component.launch.xml        | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)
 create mode 100644 autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml

diff --git a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml
new file mode 100644
index 0000000000..ce331b4716
--- /dev/null
+++ b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    update_rate: 3.0
\ No newline at end of file
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index eb4aecc768..a90fdb89a5 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -10,7 +10,7 @@
 
     <arg name="component_state_monitor_topic_path" value="$(find-pkg-share autoware_launch)/config/system/component_state_monitor/topics.yaml"/>
     <arg name="emergency_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/emergency_handler/emergency_handler.param.yaml"/>
-    <arg name="duplicated_node_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/duplicated_node_checker_param_path/duplicated_node_checker_param.param.yaml"/>
+    <arg name="duplicated_node_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
     <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
     <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>