From 52e6e801e1c09c22f5d78d551d6cc0a0ed46b334 Mon Sep 17 00:00:00 2001
From: kosuke55 <kosuke.tnp@gmail.com>
Date: Tue, 4 Mar 2025 23:37:00 +0900
Subject: [PATCH] feat(dummy_infrastructur): auto approval when ego stops at
 stop line

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 autoware_launch/config/planning/preset/default_preset.yaml     | 2 +-
 .../launch/components/tier4_simulator_component.launch.xml     | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index af41f09d6b..fdc31d07db 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -64,7 +64,7 @@ launch:
       default: "true"
   - arg:
       name: launch_virtual_traffic_light_module
-      default: "false"
+      default: "true"
   - arg:
       name: launch_no_stopping_area_module
       default: "true"
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
index 864088a40a..9fc5fc5e21 100644
--- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -82,4 +82,7 @@
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml"
     />
   </include>
+  <group if="$(var scenario_simulation)">
+    <include file="$(find-pkg-share autoware_dummy_infrastructure)/launch/dummy_infrastructure.launch.xml"/>
+  </group>
 </launch>