feat(mrm_handler, tier4_system_component): add mrm recoverable option

Signed-off-by: Tomohito Ando <[email protected]>
tier4 · Feb 14, 2025 · bf480fb · bf480fb
1 parent b8109e3
commit bf480fb
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diff --git a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml
@@ -11,6 +11,8 @@
     use_parking_after_stopped: false
     use_pull_over: false
     use_comfortable_stop: true
+    is_mrm_recoverable: true
+    use_pull_over_after_stopped: true
 
     # setting whether to turn hazard lamp on for each situation
     turning_hazard_on:

diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -27,6 +27,8 @@
     <arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
     <arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
     <arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>
+
+    <arg name="launch_system_recover_operator" value="false"/>
   </include>
 
   <!-- For logging of diagnostics_graph error -->