feat: use control command gate (#148)

feat: add use control command gate (#140)

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

Author: TetsuKawa

awapi_awiv_adapter/launch/awapi_awiv_adapter.launch.xml

@@ -1,4 +1,5 @@
 <launch>
+  <arg name="use_control_command_gate" default="false"/>
   <arg name="adapter_output" default="screen"/>
   <arg name="relay_output" default="log"/>
   <arg name="status_pub_hz" default="5.0"/>
@@ -139,6 +140,7 @@
       <param name="status_pub_hz" value="$(var status_pub_hz)"/>
       <param name="stop_reason_timeout" value="$(var stop_reason_timeout)"/>
       <param name="stop_reason_thresh_dist" value="$(var stop_reason_thresh_dist)"/>
+      <param name="use_control_command_gate" value="$(var use_control_command_gate)"/>
     </node>
   </group>
 

awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp

@@ -31,10 +31,12 @@ AutowareIvAdapter::AutowareIvAdapter()
   stop_reason_thresh_dist_ = this->declare_parameter("stop_reason_thresh_dist", 100.0);
   const double default_max_velocity = waitForParam<double>(
     this, declare_parameter("node/max_velocity", ""), declare_parameter("param/max_velocity", ""));
-  const bool em_stop_param = waitForParam<bool>(
-    this, declare_parameter("node/emergency_stop", ""),
-    declare_parameter("param/emergency_stop", ""));
-  emergencyParamCheck(em_stop_param);
+  if (!this->declare_parameter("use_control_command_gate", false)) {
+    const bool em_stop_param = waitForParam<bool>(
+      this, declare_parameter("node/emergency_stop", ""),
+      declare_parameter("param/emergency_stop", ""));
+    emergencyParamCheck(em_stop_param);
+  }
 
   // setup instance
   vehicle_state_publisher_ = std::make_unique<AutowareIvVehicleStatePublisher>(*this);