Merge pull request #655 from tier4/feat/sys_diag_monitor/add_collisio…

…n_detector feat(system_diagnostic_monitor): enable collision_detector
tier4 · Nov 7, 2024 · 80a8e22 · 80a8e22
2 parents 6ce8604 + d890e00
commit 80a8e22
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
@@ -9,6 +9,7 @@ units:
       - { type: link, link: /autoware/control/performance_monitoring/lane_departure }
       - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
       - { type: link, link: /autoware/control/performance_monitoring/control_state }
+      - { type: link, link: /autoware/control/collision_detector }
 
   - path: /autoware/control/local
     type: and
@@ -66,3 +67,8 @@ units:
     type: diag
     node: external_cmd_converter
     name: remote_control_topic_status
+
+  - path: /autoware/control/collision_detector
+    type: diag
+    node: collision_detector
+    name: collision_detect
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -6,7 +6,7 @@
   <arg name="use_individual_control_param" default="false"/>
   <arg name="enable_autonomous_emergency_braking" default="true"/>
   <arg name="enable_predicted_path_checker" default="false"/>
-  <arg name="enable_collision_detector" default="false"/>
+  <arg name="enable_collision_detector" default="true"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>