fix(autoware_launch): add parameter to launch launch_system_monitor (#…

…113)

Signed-off-by: ito-san <[email protected]>

Signed-off-by: ito-san <[email protected]>

autoware_launch/launch/autoware.launch.xml

@@ -30,6 +30,7 @@
   <arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
+  <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -69,6 +70,7 @@
   <group if="$(var launch_system)">
     <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
       <arg name="run_mode" value="$(var system_run_mode)"/>
+      <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
     </include>
   </group>

autoware_launch/launch/e2e_simulator.launch.xml

@@ -22,6 +22,8 @@
   <arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
+  <!-- System -->
+  <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -49,6 +51,8 @@
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- Control -->
       <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
+      <!-- System -->
+      <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->

autoware_launch/launch/logging_simulator.launch.xml

@@ -26,6 +26,8 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- Control -->
   <arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
+  <!-- System -->
+  <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <!-- Scenario simulation -->
@@ -56,6 +58,7 @@
       <!-- System -->
       <arg name="launch_system" value="$(var system)"/>
       <arg name="system_run_mode" value="online"/>
+      <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>

autoware_launch/launch/planning_simulator.launch.xml

@@ -11,6 +11,8 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- Control -->
   <arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
+  <!-- System -->
+  <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -46,6 +48,7 @@
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- System -->
       <arg name="system_run_mode" value="planning_simulation"/>
+      <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>