Skip to content

Commit 8b84b86

Browse files
author
M. Fatih Cırıt
committed
fix(raw_vehicle_cmd_converter): csv paths are resolved in param.yaml
Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
1 parent 86b4335 commit 8b84b86

File tree

2 files changed

+3
-7
lines changed

2 files changed

+3
-7
lines changed

vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml

+3
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,8 @@
11
/**:
22
ros__parameters:
3+
csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv
4+
csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv
5+
csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv
36
convert_accel_cmd: true
47
convert_brake_cmd: true
58
convert_steer_cmd: true

vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml

-7
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,5 @@
11
<?xml version="1.0"?>
22
<launch>
3-
<arg name="csv_path_accel_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"/>
4-
<arg name="csv_path_brake_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"/>
5-
<arg name="csv_path_steer_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv"/>
6-
73
<arg name="input_control_cmd" default="/control/command/control_cmd"/>
84
<arg name="input_odometry" default="/localization/kinematic_state"/>
95
<arg name="input_steering" default="/vehicle/status/steering_status"/>
@@ -13,9 +9,6 @@
139

1410
<node pkg="raw_vehicle_cmd_converter" exec="raw_vehicle_cmd_converter_node" name="raw_vehicle_cmd_converter" output="screen">
1511
<param from="$(var config_file)" allow_substs="true"/>
16-
<param name="csv_path_accel_map" value="$(var csv_path_accel_map)"/>
17-
<param name="csv_path_brake_map" value="$(var csv_path_brake_map)"/>
18-
<param name="csv_path_steer_map" value="$(var csv_path_steer_map)"/>
1912
<remap from="~/input/control_cmd" to="$(var input_control_cmd)"/>
2013
<remap from="~/input/odometry" to="$(var input_odometry)"/>
2114
<remap from="~/input/steering" to="$(var input_steering)"/>

0 commit comments

Comments
 (0)