sync rc develop (#136)

* Disable lidar temporarily

* Revert "Disable lidar temporarily"

This reverts commit 81359d412292b5396cef7aceb53909cb38cf1d95.

* Fix parameter for avoidance without foa (#134)

* Feature/add controller emergency param (#135)

* add controller_emergency_param

* add joy_controller_emergency_param_in_remote_control

* fix typo in autoware_error_monitor.param.yaml

Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: shiorikawata <73450134+shiorikawata@users.noreply.github.com>

planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py

@@ -307,7 +307,7 @@ def generate_launch_description():
         set_container_mt_executable,
         SetParameter(
             name='avoidance.threshold_distance_object_is_on_center',
-            value=1.0,
+            value=0.5,
             condition=IfCondition(LaunchConfiguration('disuse_foa'))
         ),
         SetParameter(

system_launch/config/autoware_error_monitor.param.yaml

@@ -20,6 +20,7 @@
             # "/autoware/control/autonomous_driving/lane_departure",
             # '/autoware/control/autonomous_driving/trajectory_deviation', # Unstable
             "/autoware/control/command_gate/alive_monitoring",
+            "/autoware/control/remote_control/alive_monitoring/joy_controller_connection",
             "/autoware/localization/alive_monitoring",
             "/autoware/localization/matching_score",
             "/autoware/localization/localization_accuracy",
@@ -73,6 +74,7 @@
           [
             "/autoware/control/command_gate/alive_monitoring",
             "/autoware/control/remote_control/alive_monitoring",
+            "/autoware/control/remote_control/alive_monitoring/joy_controller_connection",
             "/autoware/system/alive_monitoring",
             "/autoware/system/emergency_stop_operation",
             "/autoware/vehicle/alive_monitoring",