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Signed-off-by: mitsudome-r <[email protected]>

docs/how-to-guides/configuring-system-error-monitor.md

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+# Configuring System Error Monitor
+
+## Overview
+Although Autoware repository has CI tests to do integration testing, there are always unkown error causing function failure.
+This may include:
+* Nodes terminates abnormally
+* Nodes freezes without crashing and stops publishing message or causes drop in publish rate of message.
+* Nodes functioning beyond it's designed state (e.g., losing its localization pose, large deviation from planned trajectory, etc)
+
+In order to detect such failure and trigger minimum risk manuever, we have system monitoring module.
+This page explains how users can configure `system_error_monitor` for Autoware for their use case.
+
+
+## Architecture
+
+
+## Configuring Parameters
+
+### Adding new topic monitoring
+
+### Turning on Emergency Handler function
+By default, Contorl module will ignore any emergency control sent from System Monitor Module.
+This is because it is not always safe to make a sudden stop at node failure, and we would like the user to be aware of the function when it is turned on.
+In order to turn on its function, modify the following launch file as shown below:
+
+https://github.com/autowarefoundation/autoware_launch/blob/515239b9f1d9c4161629f25c1b8e4c6ec62acfdd/autoware_launch/launch/autoware.launch.xml#L117
+
+Add new argument `use_emergency_handling` to control.launch.py.
+```
+  <group if="$(var launch_control)">
+    <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
+      <arg name="lateral_controller_mode" value="mpc_follower"/>
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="use_emergency_handling" value="true"/>
+    </include>
+  </group>
+```