Skip to content

Commit 7e53f30

Browse files
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>
1 parent 6405516 commit 7e53f30

File tree

13 files changed

+27
-25
lines changed

13 files changed

+27
-25
lines changed

control/joy_controller/config/joy_controller.param.yaml

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
/**:
22
ros__parameters:
3-
joy_type: DS4
3+
joy_type: $(var joy_type)
44
update_rate: 10.0
55
accel_ratio: 3.0
66
brake_ratio: 5.0

control/joy_controller/launch/joy_controller.launch.xml

+1-2
Original file line numberDiff line numberDiff line change
@@ -30,8 +30,7 @@
3030
<remap from="service/emergency_stop" to="/api/autoware/set/emergency"/>
3131
<remap from="service/autoware_engage" to="/api/autoware/set/engage"/>
3232

33-
<param from="$(var config_file)"/>
34-
<param name="joy_type" value="$(var joy_type)"/>
33+
<param from="$(var config_file)" allow_substs="true"/>
3534
</node>
3635

3736
<node pkg="joy" exec="joy_node" name="joy_node" output="screen">

control/trajectory_follower_node/CMakeLists.txt

+1
Original file line numberDiff line numberDiff line change
@@ -62,4 +62,5 @@ ament_auto_package(
6262
param
6363
test
6464
launch
65+
config
6566
)
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,5 @@
1+
/**:
2+
ros__parameters:
3+
use_external_target_vel: $(var use_external_target_vel)
4+
external_target_vel: $(var external_target_vel)
5+
lateral_deviation: $(var lateral_deviation)

control/trajectory_follower_node/launch/simple_trajectory_follower.launch.xml

+1-3
Original file line numberDiff line numberDiff line change
@@ -5,9 +5,7 @@
55

66
<!-- engage_transition_manager -->
77
<node pkg="trajectory_follower_node" exec="simple_trajectory_follower_exe" name="simple_trajectory_follower" output="screen">
8-
<param name="use_external_target_vel" value="$(var use_external_target_vel)"/>
9-
<param name="external_target_vel" value="$(var external_target_vel)"/>
10-
<param name="lateral_deviation" value="$(var lateral_deviation)"/>
8+
<param from="$(find-pkg-share trajectory_follower_node)/config/simple_trajectory_follower.param.yaml" allow_substs="true"/>
119

1210
<remap from="input/kinematics" to="/localization/kinematic_state"/>
1311
<remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/>

control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
update_rate: 10.0
44
system_emergency_heartbeat_timeout: 0.5
55
use_emergency_handling: false
6-
check_external_emergency_heartbeat: false
6+
check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
77
use_start_request: false
88
enable_cmd_limit_filter: true
99
filter_activated_count_threshold: 5

control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml

+1-6
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,6 @@
11
<launch>
22
<arg name="config_file" default="$(find-pkg-share vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml"/>
3-
<arg name="use_emergency_handling" default="false"/>
43
<arg name="check_external_emergency_heartbeat" default="true"/>
5-
<arg name="use_start_request" default="false"/>
64

75
<!-- vehicle info -->
86
<arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
@@ -44,10 +42,7 @@
4442
<remap from="~/service/external_emergency_stop" to="~/external_emergency_stop"/>
4543
<remap from="~/service/clear_external_emergency_stop" to="~/clear_external_emergency_stop"/>
4644

47-
<param from="$(var config_file)"/>
45+
<param from="$(var config_file)" allow_substs="true"/>
4846
<param from="$(var vehicle_info_param_file)"/>
49-
<param name="use_emergency_handling" value="$(var use_emergency_handling)"/>
50-
<param name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
51-
<param name="use_start_request" value="$(var use_start_request)"/>
5247
</node>
5348
</launch>

control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp

+3
Original file line numberDiff line numberDiff line change
@@ -331,6 +331,9 @@ std::shared_ptr<VehicleCmdGate> generateNode()
331331
{"--ros-args", "--params-file", vehicle_cmd_gate_dir + "/config/vehicle_cmd_gate.param.yaml",
332332
"--ros-args", "--params-file", vehicle_info_util_dir + "/config/vehicle_info.param.yaml"});
333333

334+
node_options.append_parameter_override(
335+
"check_external_emergency_heartbeat", true); // This parameter has to be set when launching.
336+
334337
const auto override = [&](const auto s, const std::vector<double> v) {
335338
node_options.append_parameter_override<std::vector<double>>(s, v);
336339
};

planning/obstacle_avoidance_planner/launch/obstacle_avoidance_planner.launch.xml

+1-3
Original file line numberDiff line numberDiff line change
@@ -2,13 +2,11 @@
22
<arg name="input_path_topic" default="input/path"/>
33
<arg name="output_path_topic" default="output/path"/>
44
<arg name="enable_debug_info" default="false"/>
5-
<arg name="param_path" default="$(find-pkg-share obstacle_avoidance_planner)/param/obstacle_avoidance_planner.param.yaml"/>
6-
5+
<arg name="param_path" default="$(find-pkg-share obstacle_avoidance_planner)/config/obstacle_avoidance_planner.param.yaml"/>
76
<node pkg="obstacle_avoidance_planner" exec="obstacle_avoidance_planner_node" name="obstacle_avoidance_planner" output="screen">
87
<remap from="~/input/path" to="$(var input_path_topic)"/>
98
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
109
<remap from="~/output/path" to="$(var output_path_topic)"/>
11-
1210
<param from="$(var param_path)"/>
1311
<param name="enable_debug_info" value="$(var enable_debug_info)"/>
1412
</node>

planning/obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml

-2
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,6 @@
66
<!-- vehicle info -->
77
<arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
88

9-
<arg name="enable_slow_down" default="false"/>
109
<arg name="input_objects" default="/perception/object_recognition/objects"/>
1110
<arg name="input_pointcloud" default="input/pointcloud"/>
1211
<arg name="input_trajectory" default="input/trajectory"/>
@@ -21,7 +20,6 @@
2120
<param from="$(var adaptive_cruise_control_param_path)"/>
2221
<param from="$(var obstacle_stop_planner_param_path)"/>
2322
<param from="$(var vehicle_info_param_file)"/>
24-
<param name="enable_slow_down" value="$(var enable_slow_down)"/>
2523
<!-- remap topic name -->
2624
<remap from="~/output/stop_reason" to="/planning/scenario_planning/status/stop_reason"/>
2725
<remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>

vehicle/external_cmd_converter/CMakeLists.txt

+1
Original file line numberDiff line numberDiff line change
@@ -15,4 +15,5 @@ rclcpp_components_register_node(external_cmd_converter
1515

1616
ament_auto_package(INSTALL_TO_SHARE
1717
launch
18+
config
1819
)
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,9 @@
1+
/**:
2+
ros__parameters:
3+
csv_path_accel_map: $(var csv_path_accel_map)
4+
csv_path_brake_map: $(var csv_path_brake_map)
5+
ref_vel_gain: $(var ref_vel_gain)
6+
timer_rate: $(var timer_rate)
7+
wait_for_first_topic: $(var wait_for_first_topic)
8+
control_command_timeout: $(var control_command_timeout)
9+
emergency_stop_timeout: $(var emergency_stop_timeout)

vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml

+2-7
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,6 @@
11
<?xml version="1.0"?>
22
<launch>
3+
<arg name="external_cmd_converter_param" default="$(find-pkg-share external_cmd_converter)/config/external_cmd_converter.param.yaml"/>
34
<!-- map file -->
45
<arg name="csv_path_accel_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"/>
56
<arg name="csv_path_brake_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"/>
@@ -24,13 +25,7 @@
2425

2526
<!-- node -->
2627
<node pkg="external_cmd_converter" exec="external_cmd_converter_node" name="external_cmd_converter" output="screen">
27-
<param name="csv_path_accel_map" value="$(var csv_path_accel_map)"/>
28-
<param name="csv_path_brake_map" value="$(var csv_path_brake_map)"/>
29-
<param name="ref_vel_gain" value="$(var ref_vel_gain)"/>
30-
<param name="timer_rate" value="$(var timer_rate)"/>
31-
<param name="wait_for_first_topic" value="$(var wait_for_first_topic)"/>
32-
<param name="control_command_timeout" value="$(var control_command_timeout)"/>
33-
<param name="emergency_stop_timeout" value="$(var emergency_stop_timeout)"/>
28+
<param from="$(var external_cmd_converter_param)" allow_substs="true"/>
3429
<remap from="in/external_control_cmd" to="$(var in/external_control_cmd)"/>
3530
<remap from="in/shift_cmd" to="$(var in/shift_cmd)"/>
3631
<remap from="in/emergency_stop" to="$(var in/emergency_stop)"/>

0 commit comments

Comments
 (0)