From 72cc44da6ec00da10e0967929731534d2cb263a5 Mon Sep 17 00:00:00 2001
From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com>
Date: Tue, 19 Mar 2024 21:20:05 +0900
Subject: [PATCH] feat: add a param file of a mrm handler node (#927)

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
---
 .../system/mrm_handler/mrm_handler.param.yaml   | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)
 create mode 100644 autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml

diff --git a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml
new file mode 100644
index 0000000000..e82ee36a78
--- /dev/null
+++ b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml
@@ -0,0 +1,17 @@
+# Default configuration for mrm handler
+---
+/**:
+  ros__parameters:
+    update_rate: 10
+    timeout_operation_mode_availability: 0.5
+    timeout_call_mrm_behavior: 0.01
+    timeout_cancel_mrm_behavior: 0.01
+    use_emergency_holding: false
+    timeout_emergency_recovery: 5.0
+    use_parking_after_stopped: false
+    use_pull_over: false
+    use_comfortable_stop: false
+
+    # setting whether to turn hazard lamp on for each situation
+    turning_hazard_on:
+      emergency: true