feat: add launch for one host test (#1374)

* feat: add some launch for one host test

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

* feat: add leader_election_converter to launch

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

* feat: add launch for remapping trajectry

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

* feat: change MrmState.msg to internal one

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

* feat: remap mrm state

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

* modify: typo

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

---------

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

Author: TetsuKawa

launch/tier4_system_launch/launch/system.main.mrm-v0.6.tmp.launch.xml

@@ -116,6 +116,7 @@
     <group if="$(var use_diagnostic_graph)">
       <include file="$(find-pkg-share mrm_handler)/launch/mrm_handler.launch.xml">
         <arg name="config_file" value="$(var mrm_handler_param_path)"/>
+        <arg name="output_mrm_state" value="/system/fail_safe/mrm_state/tmp"/>
       </include>
     </group>
 
@@ -160,15 +161,16 @@
     <include file="$(find-pkg-share control_cmd_switcher)/launch/control_cmd_switcher.launch.xml"/>
   </group>
 
-  <!-- Leader Election Converter-->
+    <!-- Leader Election Converter-->
   <group>
     <include file="$(find-pkg-share leader_election_converter)/launch/leader_election_converter.launch.xml"/>
+    <arg name="input_mrm_state" value="/system/fail_safe/mrm_state/tmp"/>
   </group>
 
-  <!-- topic state montor for MRMv0.6 one host test-->
+  <!-- topic state monitor for MRMv0.6 one host test-->
   <group>
     <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="scenario_planning_trajectry"/>
+      <arg name="node_name_suffix" value="scenario_planning_trajectory"/>
       <arg name="topic" value="/planning/scenario_planning/trajectory"/>
       <arg name="topic_type" value="autoware_auto_planning_msgs/msg/Trajectory"/>
       <arg name="diag_name" value="publish_to_sub_status"/>

launch/tier4_system_launch/package.xml

@@ -17,6 +17,8 @@
   <exec_depend>leader_election_converter</exec_depend>
   <exec_depend>system_error_monitor</exec_depend>
   <exec_depend>system_monitor</exec_depend>
+  <exec_depend>control_cmd_switcher</exec_depend>
+  <exec_depend>leader_election_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp

@@ -99,7 +99,7 @@ MrmHandler::MrmHandler() : Node("mrm_handler")
   mrm_state_.behavior.type = tier4_system_msgs::msg::MrmBehavior::NONE;
   is_operation_mode_availability_timeout = false;
 
-  // Timera
+  // Timer
   const auto update_period_ns = rclcpp::Rate(param_.update_rate).period();
   timer_ = rclcpp::create_timer(
     this, get_clock(), update_period_ns, std::bind(&MrmHandler::onTimer, this));