From e1a4989223756db2b6cd8e79d9dd5adc98d0ec85 Mon Sep 17 00:00:00 2001
From: satoshi-ota <satoshi.ota928@gmail.com>
Date: Wed, 27 Nov 2024 19:36:47 +0900
Subject: [PATCH 1/2] fix(api): request enable autoware control

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 simulation/traffic_simulator/src/api/api.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/simulation/traffic_simulator/src/api/api.cpp b/simulation/traffic_simulator/src/api/api.cpp
index 1f24e201b3c..1b8690d2ab1 100644
--- a/simulation/traffic_simulator/src/api/api.cpp
+++ b/simulation/traffic_simulator/src/api/api.cpp
@@ -94,6 +94,7 @@ auto API::respawn(
 
       entity_manager_ptr_->asFieldOperatorApplication(name).clearRoute();
       entity_manager_ptr_->asFieldOperatorApplication(name).plan({goal_pose});
+      entity_manager_ptr_->asFieldOperatorApplication(name).enableAutowareControl();
       entity_manager_ptr_->asFieldOperatorApplication(name).engage();
     }
   }

From 5a94c73813d2bb854001028d8f517f1e380b6de6 Mon Sep 17 00:00:00 2001
From: satoshi-ota <satoshi.ota928@gmail.com>
Date: Fri, 29 Nov 2024 10:20:11 +0900
Subject: [PATCH 2/2] fix(concealer): increase max time to request enable
 autoware control

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 .../src/field_operator_application_for_autoware_universe.cpp    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/external/concealer/src/field_operator_application_for_autoware_universe.cpp b/external/concealer/src/field_operator_application_for_autoware_universe.cpp
index 072a42b628f..00bd97a1d00 100644
--- a/external/concealer/src/field_operator_application_for_autoware_universe.cpp
+++ b/external/concealer/src/field_operator_application_for_autoware_universe.cpp
@@ -475,7 +475,7 @@ auto FieldOperatorApplicationFor<AutowareUniverse>::enableAutowareControl() -> v
 {
   task_queue.delay([this]() {
     auto request = std::make_shared<autoware_adapi_v1_msgs::srv::ChangeOperationMode::Request>();
-    requestEnableAutowareControl(request);
+    requestEnableAutowareControl(request, 30);
   });
 }