From 1efd95fc09dac0611e5e7d6b2dcf603841cd144b Mon Sep 17 00:00:00 2001 From: "autoware-iv-sync-ci[bot]" <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Date: Thu, 16 Sep 2021 22:23:59 +0900 Subject: [PATCH] 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 Co-authored-by: Fumiya Watanabe Co-authored-by: shiorikawata <73450134+shiorikawata@users.noreply.github.com> --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 +- system_launch/config/autoware_error_monitor.param.yaml | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index f65684286..9125124fa 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/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( diff --git a/system_launch/config/autoware_error_monitor.param.yaml b/system_launch/config/autoware_error_monitor.param.yaml index ded3a1407..4b9242a22 100644 --- a/system_launch/config/autoware_error_monitor.param.yaml +++ b/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",