Merge pull request #1549 from tier4/feat/delete_emergency_handler

feat(emergency_handler): delete package (autowarefoundation#8917)

.github/CODEOWNERS

@@ -231,7 +231,6 @@ system/diagnostic_graph_utils/** [email protected]
 system/dummy_diag_publisher/** [email protected] [email protected]
 system/dummy_infrastructure/** [email protected]
 system/duplicated_node_checker/** [email protected] [email protected] [email protected]
-system/emergency_handler/** [email protected] [email protected] [email protected]
 system/hazard_status_converter/** [email protected]
 system/mrm_comfortable_stop_operator/** [email protected] [email protected]
 system/mrm_emergency_stop_operator/** [email protected] [email protected]

launch/tier4_system_launch/launch/system.launch.xml

@@ -2,7 +2,6 @@
 <launch>
   <!-- Parameter files -->
   <arg name="component_state_monitor_topic_path"/>
-  <arg name="emergency_handler_param_path"/>
   <arg name="duplicated_node_checker_param_path"/>
   <arg name="processing_time_checker_param_path"/>
   <arg name="mrm_comfortable_stop_operator_param_path"/>
@@ -26,8 +25,6 @@
   <arg name="run_mode" default="online" description="options: online, logging_simulation, planning_simulation"/>
   <arg name="sensor_model" description="sensor model name"/>
 
-  <!-- Emergency handler will be replaced by MRM handler. -->
-  <arg name="use_emergency_handler" default="false" description="use emergency handler packages"/>
   <arg name="mrm_handler_param_path"/>
   <arg name="diagnostic_graph_aggregator_param_path"/>
   <arg name="diagnostic_graph_aggregator_graph_path"/>
@@ -97,27 +94,6 @@
       </include>
     </group>
 
-    <!-- Error Monitor -->
-    <group if="$(var use_emergency_handler)">
-      <let name="config_file" value="$(var system_error_monitor_param_path)" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
-      <let name="config_file" value="$(var system_error_monitor_param_path)" if="$(eval &quot;'$(var run_mode)'=='logging_simulation'&quot;)"/>
-      <let name="config_file" value="$(var system_error_monitor_planning_simulator_param_path)" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
-      <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
-        <arg name="config_file" value="$(var config_file)"/>
-        <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml"/>
-        <arg name="extra_agg_config_file_system" value="$(var diagnostic_aggregator_system_param_path)"/>
-        <arg name="extra_agg_config_file_vehicle" value="$(var diagnostic_aggregator_vehicle_param_path)"/>
-        <arg name="use_emergency_hold" value="false"/>
-      </include>
-    </group>
-
-    <!-- Emergency Handler -->
-    <group if="$(var use_emergency_handler)">
-      <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
-        <arg name="config_file" value="$(var emergency_handler_param_path)"/>
-      </include>
-    </group>
-
     <!-- Diagnostic Graph Aggregator -->
     <group>
       <include file="$(find-pkg-share system_diagnostic_monitor)/launch/system_diagnostic_monitor.launch.xml">
@@ -127,12 +103,12 @@
     </group>
 
     <!-- Hazard Status Converter -->
-    <group unless="$(var use_emergency_handler)">
+    <group>
       <include file="$(find-pkg-share hazard_status_converter)/launch/hazard_status_converter.launch.xml"/>
     </group>
 
     <!-- MRM Handler -->
-    <group unless="$(var use_emergency_handler)">
+    <group>
       <include file="$(find-pkg-share mrm_handler)/launch/mrm_handler.launch.xml">
         <arg name="config_file" value="$(var mrm_handler_param_path)"/>
       </include>

launch/tier4_system_launch/package.xml

@@ -12,7 +12,6 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <exec_depend>component_state_monitor</exec_depend>
-  <exec_depend>emergency_handler</exec_depend>
   <exec_depend>system_error_monitor</exec_depend>
   <exec_depend>system_monitor</exec_depend>