From 0cdef7c6ad618beecbfffa2bc3076d51962a87ed Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Fri, 20 Oct 2023 19:14:49 +0900
Subject: [PATCH] feat: enable aeb (#677)

* Revert "feat: disable autonomous_emergency_braking (#673)"

This reverts commit c0843ae369db8160e2c9aa7b163011870bf0566f.

* feat: use multithread for control_container

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Co-authored-by: tkimura4 <tkimura4@users.noreply.github.com>
---
 .../system_error_monitor/system_error_monitor.awsim.param.yaml | 2 +-
 .../system_error_monitor/system_error_monitor.param.yaml       | 2 +-
 .../system_error_monitor.planning_simulation.param.yaml        | 2 +-
 .../launch/components/tier4_control_component.launch.xml       | 3 ++-
 4 files changed, 5 insertions(+), 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
index 430b1bf4f7..e138c9fe94 100644
--- 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
index 5b9e8a3991..ea4ab8481e 100644
--- 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/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
index e1829a7c57..9095019e7b 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
+++ b/autoware_launch/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
index 5a1540495e..d16bacd58f 100644
--- 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)"/>