From eec7ce767404d55fad8344907d42a9b0da985fa2 Mon Sep 17 00:00:00 2001
From: veqcc <ryuta.kambe@tier4.jp>
Date: Thu, 19 Sep 2024 14:58:12 +0900
Subject: [PATCH 1/2] feat(emergency_handler): delete package

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
---
 .../launch/components/tier4_system_component.launch.xml         | 2 --
 1 file changed, 2 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 18042ddd65..d3222506b3 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -11,7 +11,6 @@
     <arg name="sensor_model" value="$(var sensor_model)"/>
 
     <arg name="component_state_monitor_topic_path" value="$(find-pkg-share autoware_launch)/config/system/component_state_monitor/topics.yaml"/>
-    <arg name="emergency_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/emergency_handler/emergency_handler.param.yaml"/>
     <arg name="duplicated_node_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml"/>
     <arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
@@ -30,7 +29,6 @@
     <arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
     <arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>
 
-    <arg name="use_emergency_handler" value="false"/>
     <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)"/>

From 8772bddd7332b57e7e0732ef3c97b890b2f54fa2 Mon Sep 17 00:00:00 2001
From: veqcc <ryuta.kambe@tier4.jp>
Date: Thu, 19 Sep 2024 15:16:20 +0900
Subject: [PATCH 2/2] remove config

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
---
 .../emergency_handler/emergency_handler.param.yaml | 14 --------------
 1 file changed, 14 deletions(-)
 delete mode 100644 autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml

diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
deleted file mode 100644
index 652a984ce5..0000000000
--- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
+++ /dev/null
@@ -1,14 +0,0 @@
-# Default configuration for emergency handler
----
-/**:
-  ros__parameters:
-    update_rate: 10
-    timeout_hazard_status: 0.5
-    timeout_takeover_request: 10.0
-    use_takeover_request: false
-    use_parking_after_stopped: false
-    use_comfortable_stop: false
-
-    # setting whether to turn hazard lamp on for each situation
-    turning_hazard_on:
-      emergency: true