Autonomous mode is disabled when launching AEB module is set to false

[ismetatabay]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

In the default configuration of Autoware, the Autonomous Emergency Braking (AEB) module is enabled by default. However, if users need to disable it, they can set the enable_autonomous_emergency_brakingparameter to false.

• enable_autonomous_emergency_braking @ tier4_control_component.launch

If this parameter is set to false, autonomous mode will be disabled because it is used in the diagnostic_graph_aggregator. Users need to remove the following line to drive autonomously if enable_autonomous_emergency_braking is set to false.

• https://github.com/autowarefoundation/autoware.universe/blob/098da3299ba813aba1810747a7ad7f6c61118251/system/system_diagnostic_monitor/config/control.yaml#L8

Expected behavior

If enable_autonomous_emergency_braking is set to false, launch Autoware without the AEB module and drive autonomously.

Actual behavior

If enable_autonomous_emergency_braking is set to false, autonomous mode will be disabled.

Steps to reproduce

1. Launch Psim with the setting enable_autonomous_emergency_braking parameter to false.
2. Give a goal

Versions

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Possible causes

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Additional context

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[stale[bot]]

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