From 2fb9f659924802fe3fca30104b3f9587f569000a Mon Sep 17 00:00:00 2001 From: t4-adc Date: Thu, 28 Mar 2024 16:46:13 +0000 Subject: [PATCH] enable MRM Signed-off-by: t4-adc --- .../config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 2 +- .../system/emergency_handler/emergency_handler.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 54c87f45b6..cc7377ec81 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -2,7 +2,7 @@ ros__parameters: update_rate: 10.0 system_emergency_heartbeat_timeout: 0.5 - use_emergency_handling: false + use_emergency_handling: true check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat) use_start_request: false enable_cmd_limit_filter: true diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml index 652a984ce5..d064f2a2dd 100644 --- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml +++ b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml @@ -7,7 +7,7 @@ timeout_takeover_request: 10.0 use_takeover_request: false use_parking_after_stopped: false - use_comfortable_stop: false + use_comfortable_stop: true # setting whether to turn hazard lamp on for each situation turning_hazard_on: