feat(autoware_launch): add check_external_emergency_heartbeat option (#…

…253)

Signed-off-by: Takayuki Murooka <[email protected]>

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -3,7 +3,6 @@
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: false
-    check_external_emergency_heartbeat: false
     use_start_request: false
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5

autoware_launch/launch/autoware.launch.xml

@@ -23,6 +23,8 @@
   <!-- Vehicle -->
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
   <arg name="launch_vehicle_interface" default="true" description="launch vehicle interface"/>
+  <!-- Control -->
+  <arg name="check_external_emergency_heartbeat" default="false"/>
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>

autoware_launch/launch/components/tier4_control_component.launch.xml

@@ -25,6 +25,7 @@
     />
     <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
     <arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
+    <arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
 
     <!-- common param path -->
     <arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/control/common/nearest_search.param.yaml"/>