CARLA Co-simulation demo, with no perception

[mohamedleithy]

I'm trying to bring up the CARLA simulation demo with no perception module. I use the following launch command:

ros2 launch autoware_launch e2e_simulator.launch.xml \
  map_path:=/Town01 \
  vehicle_model:=sample_vehicle \
  sensor_model:=awsim_sensor_kit \
  simulator_type:=carla \
  carla_map:=Town01 \
  use_sim_time:=true \
  rviz:=false \
  perception:=false \
  launch_system:=false \
  host_ip:=192.168.122.2

The vehicle is correctly localized and the route is set, however I cannot change to autonomous mode.

These are the logs:
logs.txt

[component_container_mt-35] [WARN] [1751620633.517922822] [control.vehicle_cmd_gate]: emergency_state_heartbeat_received_time_ is false

Is this what's blocking me? If so, how can I disable this check, or mock the existence of the emergency monitor?

Also, I've tried manually disabling the checks for the perception topics in the config files for the monitor, but still couldn't change to autonomous mode.

Appreciate your support on this.