feat: add param path

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

Author: TetsuKawa

launch/tier4_control_launch/launch/control.launch.xml

@@ -47,12 +47,15 @@
 
   <!-- temporary: control_command_gate migration -->
   <arg name="use_control_command_gate" default="false"/>
+  <arg name="control_command_gate_param_path" if="$(var use_control_command_gate)"/>
 
   <group>
     <push-ros-namespace namespace="control"/>
 
     <group if="$(var use_control_command_gate)">
-      <include file="$(find-pkg-share autoware_control_command_gate)/launch/control_command_gate.launch.xml"/>
+      <include file="$(find-pkg-share autoware_control_command_gate)/launch/control_command_gate.launch.xml">
+        <arg name="config" value="$(var control_command_gate_param_path)"/>
+      </include>
     </group>
     <group if="$(var use_control_command_gate)">
       <include file="$(find-pkg-share autoware_stop_mode_operator)/launch/stop_mode_operator.launch.xml"/>

launch/tier4_system_launch/launch/system.launch.xml

@@ -36,15 +36,21 @@
 
   <!-- temporary: control_command_gate migration -->
   <arg name="use_control_command_gate" default="false"/>
+  <arg name="command_mode_switcher_param_path" if="$(var use_control_command_gate)"/>
+  <arg name="command_mode_decider_param_path" if="$(var use_control_command_gate)"/>
 
   <group>
     <push-ros-namespace namespace="/system"/>
 
     <group if="$(var use_control_command_gate)">
-      <include file="$(find-pkg-share autoware_command_mode_switcher)/launch/switcher.launch.xml"/>
+      <include file="$(find-pkg-share autoware_command_mode_switcher)/launch/switcher.launch.xml">
+        <arg name="config" value="$(var command_mode_switcher_param_path)"/>
+      </include>
     </group>
     <group if="$(var use_control_command_gate)">
-      <include file="$(find-pkg-share autoware_command_mode_decider)/launch/decider.launch.xml"/>
+      <include file="$(find-pkg-share autoware_command_mode_decider)/launch/decider.launch.xml">
+        <arg name="config" value="$(var command_mode_decider_param_path)"/>
+      </include>
     </group>
 
     <!-- System Monitor -->