From 235a2d58c05858388a45955f536d03ecfa594ba5 Mon Sep 17 00:00:00 2001
From: Takamasa Horibe <horibe.takamasa@gmail.com>
Date: Thu, 7 Sep 2023 13:01:45 +0900
Subject: [PATCH 1/3] feat(operation_transition_mannager): add param
 enable_engage_on_driving (#553)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
---
 .../operation_mode_transition_manager.param.yaml              | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
index a86443f5ca..a4e8ab2c83 100644
--- a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
+++ b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
@@ -2,6 +2,10 @@
   ros__parameters:
     transition_timeout: 10.0
     frequency_hz: 10.0
+
+    # set true if you want to engage the autonomous driving mode while the vehicle is driving. If set to false, it will deny Engage in any situation where the vehicle speed is not zero. Note that if you use this feature without adjusting the parameters, it may cause issues like sudden deceleration. Before using, please ensure the engage condition and the vehicle_cmd_gate transition filter are appropriately adjusted.
+    enable_engage_on_driving: false
+
     check_engage_condition: false # set false if you do not want to care about the engage condition.
     nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
     nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index

From 3c23a106e333fba47229c7e415be57cf617679f2 Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Date: Thu, 7 Sep 2023 19:27:05 +0900
Subject: [PATCH 2/3] feat: add traffic light recogition namespace to e2e sim
 launch (#555)

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
---
 autoware_launch/launch/e2e_simulator.launch.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index a089da6397..9ce8a421e9 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -18,6 +18,8 @@
   <!-- 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"/>
+  <!-- Perception -->
+  <arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/>
   <!-- Control -->
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
@@ -56,6 +58,7 @@
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->
       <arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
+      <arg name="namespace1" value="$(var traffic_light_namespace)"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>

From 86e7c16a5185d66f4067257d0b7ff67ef45dabdd Mon Sep 17 00:00:00 2001
From: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Date: Thu, 7 Sep 2023 22:20:52 +0900
Subject: [PATCH 3/3] feat(lane_departure_checker): add border types to check
 (#549)

update lane_departure_checker.param.yaml

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 .../lane_departure_checker.param.yaml                      | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
index 008832b1ca..2d044e7cfd 100644
--- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
+++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
@@ -1,5 +1,10 @@
 /**:
   ros__parameters:
+    # Enable feature
+    will_out_of_lane_checker: true
+    out_of_lane_checker: true
+    boundary_departure_checker: false
+
     # Node
     update_rate: 10.0
     visualize_lanelet: false
@@ -7,7 +12,7 @@
     include_left_lanes: false
     include_opposite_lanes: false
     include_conflicting_lanes: false
-    road_border_departure_checker: false
+    boundary_types_to_detect: [road_border]
 
     # Core
     footprint_margin_scale: 1.0