From 43a5774205edb72070c629c9fe6dbc8b5c76809d Mon Sep 17 00:00:00 2001
From: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Mon, 11 Nov 2024 13:23:59 +0900
Subject: [PATCH] feat(aeb): set global param to override autoware state check
 (#1218)

* set global param to override autoware state check

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* change variable for a more generic name

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* set var to false by default

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* move param to control component launch

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* change param name to be more straightforward

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
---
 .../launch/components/tier4_control_component.launch.xml        | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 64061ce176..d23a3c42c5 100644
--- 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="true"/>
   <arg name="enable_predicted_path_checker" default="false"/>
   <arg name="enable_collision_detector" default="false"/>
@@ -43,6 +44,7 @@
     <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="collision_detector_param_path" value="$(find-pkg-share autoware_launch)/config/control/autoware_collision_detector/collision_detector.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="$(var enable_predicted_path_checker)"/>
     <arg name="enable_collision_detector" value="$(var enable_collision_detector)"/>
     <arg name="predicted_path_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/predicted_path_checker/predicted_path_checker.param.yaml"/>