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feat(tier4_vehicle_launch): add redundancy option #1993

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Merged
merged 3 commits into from
Apr 24, 2025
Merged

feat(tier4_vehicle_launch): add redundancy option #1993

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e54c07d
feat(tier4_vehicle_launch): add redundancy option
mkuri Apr 18, 2025
494a878
fix(tier4_vehicle_launch): fix typo
mkuri Apr 18, 2025
f9ae480
fix(tier4_vehicle_launch): make consistent terms
mkuri Apr 24, 2025
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2 changes: 2 additions & 0 deletions launch/tier4_vehicle_launch/launch/vehicle.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
<arg name="vehicle_model" description="vehicle model name"/>
<arg name="sensor_model" description="sensor model name"/>
<arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
<arg name="is_redundant" default="false" description="is system redundant?"/>
<arg name="initial_engage_state" default="false" description="/vehicle/engage state after starting Autoware"/>
<arg name="config_dir" default="$(find-pkg-share $(var sensor_model)_description)/config" description="path to dir where sensors_calibration.yaml, etc. are located"/>
<arg name="raw_vehicle_cmd_converter_param_path" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml"/>
Expand All @@ -22,6 +23,7 @@
<group if="$(var launch_vehicle_interface)">
<include file="$(var vehicle_launch_pkg)/launch/vehicle_interface.launch.xml">
<arg name="vehicle_id" value="$(var vehicle_id)"/>
<arg name="is_redundant" value="$(var is_redundant)"/>
<arg name="raw_vehicle_cmd_converter_param_path" value="$(var raw_vehicle_cmd_converter_param_path)"/>
<arg name="initial_engage_state" value="$(var initial_engage_state)"/>
</include>
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