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feat(mrm_handler, tier4_system_component): add mrm recoverable option #760

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merged 1 commit into from
Feb 17, 2025
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feat(mrm_handler, tier4_system_component): add mrm recoverable option #760

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1 change: 1 addition & 0 deletions autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml
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Expand Up @@ -11,6 +11,7 @@
use_parking_after_stopped: false
use_pull_over: false
use_comfortable_stop: true
is_mrm_recoverable: true

# setting whether to turn hazard lamp on for each situation
turning_hazard_on:
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2 changes: 2 additions & 0 deletions autoware_launch/launch/components/tier4_system_component.launch.xml
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Expand Up @@ -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 -->
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