feat: enable aeb (autowarefoundation#677)

* Revert "feat: disable autonomous_emergency_braking (autowarefoundation#673)" This reverts commit c0843ae. * feat: use multithread for control_container Signed-off-by: tomoya.kimura <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura <[email protected]> Co-authored-by: tkimura4 <[email protected]>
soblin · Oct 20, 2023 · 0cdef7c · 0cdef7c
1 parent a0c0bd2
commit 0cdef7c
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Showing 4 changed files with 5 additions and 4 deletions.
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
@@ -19,7 +19,7 @@
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
-        # /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
+        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
         # /autoware/control/external_control/local_external_control/device_connection: default
 

diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -19,7 +19,7 @@
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
-        # /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
+        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
         /autoware/control/external_control/local_external_control/device_connection: default
 

diff --git a/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -19,7 +19,7 @@
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
-        # /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
+        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
 
         /autoware/localization/node_alive_monitoring: default

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,12 +4,13 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="true"/>
-  <arg name="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="enable_autonomous_emergency_braking" default="true"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
 
   <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
+    <arg name="use_multithread" value="true"/>
     <!-- option -->
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="vehicle_id" value="$(var vehicle_id)"/>