feat(tier4_system_component): enable to select mrm_handler_param_path (autowarefoundation#949)

* feat: enable to select mrm_handler_param_path

Signed-off-by: TetsuKawa <[email protected]>

* modify: use is_redundant arg

Signed-off-by: TetsuKawa <[email protected]>

---------

Signed-off-by: TetsuKawa <[email protected]>

Author: TetsuKawa

autoware_launch/launch/components/tier4_system_component.launch.xml

@@ -2,6 +2,10 @@
 <launch>
   <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml"/>
   <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
+  <arg name="is_redundant" default="false"/>
+
+  <let name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.redundancy.main.param.yaml" if="$(var is_redundant)"/>
+  <let name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml" unless="$(var is_redundant)"/>
 
   <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
     <arg name="run_mode" value="$(var system_run_mode)"/>
@@ -24,7 +28,7 @@
     <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="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
+    <arg name="mrm_handler_param_path" value="$(var mrm_handler_param_path)"/>
     <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)"/>
     <arg name="diagnostic_graph_aggregator_planning_simulator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware.yaml"/>