chore(planning/control/vehicle): declare ROS params in yaml files (#6217)

* clean up launch file
* add yaml

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

control/joy_controller/config/joy_controller.param.yaml

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    joy_type: DS4
+    joy_type: $(var joy_type)
     update_rate: 10.0
     accel_ratio: 3.0
     brake_ratio: 5.0

control/joy_controller/launch/joy_controller.launch.xml

@@ -30,8 +30,7 @@
     <remap from="service/emergency_stop" to="/api/autoware/set/emergency"/>
     <remap from="service/autoware_engage" to="/api/autoware/set/engage"/>
 
-    <param from="$(var config_file)"/>
-    <param name="joy_type" value="$(var joy_type)"/>
+    <param from="$(var config_file)" allow_substs="true"/>
   </node>
 
   <node pkg="joy" exec="joy_node" name="joy_node" output="screen">

control/trajectory_follower_node/CMakeLists.txt

@@ -62,4 +62,5 @@ ament_auto_package(
   param
   test
   launch
+  config
 )

control/trajectory_follower_node/config/simple_trajectory_follower.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    use_external_target_vel: $(var use_external_target_vel)
+    external_target_vel: $(var external_target_vel)
+    lateral_deviation: $(var lateral_deviation)

control/trajectory_follower_node/launch/simple_trajectory_follower.launch.xml

@@ -5,9 +5,7 @@
 
   <!-- engage_transition_manager -->
   <node pkg="trajectory_follower_node" exec="simple_trajectory_follower_exe" name="simple_trajectory_follower" output="screen">
-    <param name="use_external_target_vel" value="$(var use_external_target_vel)"/>
-    <param name="external_target_vel" value="$(var external_target_vel)"/>
-    <param name="lateral_deviation" value="$(var lateral_deviation)"/>
+    <param from="$(find-pkg-share trajectory_follower_node)/config/simple_trajectory_follower.param.yaml" allow_substs="true"/>
 
     <remap from="input/kinematics" to="/localization/kinematic_state"/>
     <remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/>

control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml

@@ -3,7 +3,7 @@
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: false
-    check_external_emergency_heartbeat: false
+    check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
     use_start_request: false
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5

control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml

@@ -1,8 +1,6 @@
 <launch>
   <arg name="config_file" default="$(find-pkg-share vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml"/>
-  <arg name="use_emergency_handling" default="false"/>
   <arg name="check_external_emergency_heartbeat" default="true"/>
-  <arg name="use_start_request" default="false"/>
 
   <!-- vehicle info -->
   <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
@@ -44,10 +42,7 @@
     <remap from="~/service/external_emergency_stop" to="~/external_emergency_stop"/>
     <remap from="~/service/clear_external_emergency_stop" to="~/clear_external_emergency_stop"/>
 
-    <param from="$(var config_file)"/>
+    <param from="$(var config_file)" allow_substs="true"/>
     <param from="$(var vehicle_info_param_file)"/>
-    <param name="use_emergency_handling" value="$(var use_emergency_handling)"/>
-    <param name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
-    <param name="use_start_request" value="$(var use_start_request)"/>
   </node>
 </launch>

control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp

@@ -331,6 +331,9 @@ std::shared_ptr<VehicleCmdGate> generateNode()
     {"--ros-args", "--params-file", vehicle_cmd_gate_dir + "/config/vehicle_cmd_gate.param.yaml",
      "--ros-args", "--params-file", vehicle_info_util_dir + "/config/vehicle_info.param.yaml"});
 
+  node_options.append_parameter_override(
+    "check_external_emergency_heartbeat", true);  // This parameter has to be set when launching.
+
   const auto override = [&](const auto s, const std::vector<double> v) {
     node_options.append_parameter_override<std::vector<double>>(s, v);
   };

planning/obstacle_avoidance_planner/launch/obstacle_avoidance_planner.launch.xml

@@ -2,13 +2,11 @@
   <arg name="input_path_topic" default="input/path"/>
   <arg name="output_path_topic" default="output/path"/>
   <arg name="enable_debug_info" default="false"/>
-  <arg name="param_path" default="$(find-pkg-share obstacle_avoidance_planner)/param/obstacle_avoidance_planner.param.yaml"/>
-
+  <arg name="param_path" default="$(find-pkg-share obstacle_avoidance_planner)/config/obstacle_avoidance_planner.param.yaml"/>
   <node pkg="obstacle_avoidance_planner" exec="obstacle_avoidance_planner_node" name="obstacle_avoidance_planner" output="screen">
     <remap from="~/input/path" to="$(var input_path_topic)"/>
     <remap from="~/input/odometry" to="/localization/kinematic_state"/>
     <remap from="~/output/path" to="$(var output_path_topic)"/>
-
     <param from="$(var param_path)"/>
     <param name="enable_debug_info" value="$(var enable_debug_info)"/>
   </node>

planning/obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml

@@ -6,7 +6,6 @@
   <!-- vehicle info -->
   <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
 
-  <arg name="enable_slow_down" default="false"/>
   <arg name="input_objects" default="/perception/object_recognition/objects"/>
   <arg name="input_pointcloud" default="input/pointcloud"/>
   <arg name="input_trajectory" default="input/trajectory"/>
@@ -21,7 +20,6 @@
     <param from="$(var adaptive_cruise_control_param_path)"/>
     <param from="$(var obstacle_stop_planner_param_path)"/>
     <param from="$(var vehicle_info_param_file)"/>
-    <param name="enable_slow_down" value="$(var enable_slow_down)"/>
     <!-- remap topic name -->
     <remap from="~/output/stop_reason" to="/planning/scenario_planning/status/stop_reason"/>
     <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>

vehicle/external_cmd_converter/CMakeLists.txt

@@ -15,4 +15,5 @@ rclcpp_components_register_node(external_cmd_converter
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
+  config
 )

vehicle/external_cmd_converter/config/external_cmd_converter.param.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    csv_path_accel_map: $(var csv_path_accel_map)
+    csv_path_brake_map: $(var csv_path_brake_map)
+    ref_vel_gain: $(var ref_vel_gain)
+    timer_rate: $(var timer_rate)
+    wait_for_first_topic: $(var wait_for_first_topic)
+    control_command_timeout: $(var control_command_timeout)
+    emergency_stop_timeout: $(var emergency_stop_timeout)

vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="external_cmd_converter_param" default="$(find-pkg-share external_cmd_converter)/config/external_cmd_converter.param.yaml"/>
   <!-- map file -->
   <arg name="csv_path_accel_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"/>
   <arg name="csv_path_brake_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"/>
@@ -24,13 +25,7 @@
 
   <!-- node -->
   <node pkg="external_cmd_converter" exec="external_cmd_converter_node" name="external_cmd_converter" output="screen">
-    <param name="csv_path_accel_map" value="$(var csv_path_accel_map)"/>
-    <param name="csv_path_brake_map" value="$(var csv_path_brake_map)"/>
-    <param name="ref_vel_gain" value="$(var ref_vel_gain)"/>
-    <param name="timer_rate" value="$(var timer_rate)"/>
-    <param name="wait_for_first_topic" value="$(var wait_for_first_topic)"/>
-    <param name="control_command_timeout" value="$(var control_command_timeout)"/>
-    <param name="emergency_stop_timeout" value="$(var emergency_stop_timeout)"/>
+    <param from="$(var external_cmd_converter_param)" allow_substs="true"/>
     <remap from="in/external_control_cmd" to="$(var in/external_control_cmd)"/>
     <remap from="in/shift_cmd" to="$(var in/shift_cmd)"/>
     <remap from="in/emergency_stop" to="$(var in/emergency_stop)"/>