Merge branch 'feat/add-mrm-v0.6-launch-based-on-v3.0.0' into feat/add…

…-mrm-state-publisher-to-mrm-stop-operator
tier4 · Jul 2, 2024 · 1330d45 · 1330d45
2 parents d32f0ab + 974b4a6
commit 1330d45
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Showing 3 changed files with 9 additions and 4 deletions.
diff --git a/launch/tier4_system_launch/launch/system.main.mrm-v0.6.tmp.launch.xml b/launch/tier4_system_launch/launch/system.main.mrm-v0.6.tmp.launch.xml
@@ -116,6 +116,7 @@
     <group if="$(var use_diagnostic_graph)">
       <include file="$(find-pkg-share mrm_handler)/launch/mrm_handler.launch.xml">
         <arg name="config_file" value="$(var mrm_handler_param_path)"/>
+        <arg name="output_mrm_state" value="/system/fail_safe/mrm_state/tmp"/>
       </include>
     </group>
 
@@ -160,15 +161,16 @@
     <include file="$(find-pkg-share control_cmd_switcher)/launch/control_cmd_switcher.launch.xml"/>
   </group>
 
-  <!-- Leader Election Converter-->
+    <!-- Leader Election Converter-->
   <group>
     <include file="$(find-pkg-share leader_election_converter)/launch/leader_election_converter.launch.xml"/>
+    <arg name="input_mrm_state" value="/system/fail_safe/mrm_state/tmp"/>
   </group>
 
-  <!-- topic state montor for MRMv0.6 one host test-->
+  <!-- topic state monitor for MRMv0.6 one host test-->
   <group>
     <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="scenario_planning_trajectry"/>
+      <arg name="node_name_suffix" value="scenario_planning_trajectory"/>
       <arg name="topic" value="/planning/scenario_planning/trajectory"/>
       <arg name="topic_type" value="autoware_auto_planning_msgs/msg/Trajectory"/>
       <arg name="diag_name" value="publish_to_sub_status"/>

diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml
@@ -17,6 +17,8 @@
   <exec_depend>leader_election_converter</exec_depend>
   <exec_depend>system_error_monitor</exec_depend>
   <exec_depend>system_monitor</exec_depend>
+  <exec_depend>control_cmd_switcher</exec_depend>
+  <exec_depend>leader_election_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/system/leader_election_converter/src/common/converter/availability_converter.cpp b/system/leader_election_converter/src/common/converter/availability_converter.cpp
@@ -75,7 +75,8 @@ void AvailabilityConverter::convertToUdp(
     availability.pull_over = availability_msg->pull_over;
     udp_availability_sender_->send(availability);
   } else {
-    RCLCPP_ERROR_THROTTLE(node_->get_logger(), *node_->get_clock(), 5000, "Failed to take control mode report");
+    RCLCPP_ERROR_THROTTLE(
+      node_->get_logger(), *node_->get_clock(), 5000, "Failed to take control mode report");
   }
 }