Revize parameters

Signed-off-by: Barış Zeren <bzeren1819@gmail.com>

Author: StepTurtle

launch/tier4_map_launch/launch/map.launch.xml

@@ -3,6 +3,8 @@
   <arg name="pointcloud_map_path"/>
   <arg name="pointcloud_map_metadata_path"/>
   <arg name="lanelet2_map_path"/>
+  <arg name="lanelet2_map_folder_path"/>
+  <arg name="lanelet2_map_metadata_path"/>
   <arg name="map_projector_info_path"/>
 
   <!-- Parameter files -->
@@ -39,12 +41,19 @@
       <composable_node pkg="map_loader" plugin="Lanelet2MapLoaderNode" name="lanelet2_map_loader">
         <param from="$(var lanelet2_map_loader_param_path)"/>
         <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
+        <param name="lanelet2_map_folder_path" value="[$(var lanelet2_map_folder_path)]"/>
+        <param name="lanelet2_map_metadata_path" value="$(var lanelet2_map_metadata_path)"/>
         <remap from="output/lanelet2_map" to="vector_map"/>
+        <remap from="service/get_differential_lanelet_map" to="/map/get_differential_lanelet_map"/>
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
 
       <composable_node pkg="autoware_dynamic_lanelet_provider" plugin="autoware::dynamic_lanelet_provider::DynamicLaneletProviderNode" name="dynamic_lanelet_provider">
         <param from="$(var dynamic_lanelet_provider_param_path)"/>
+        <remap from="input/odometry" to="/localization/kinematic_state"/>
+        <remap from="output/lanelet2_map" to="dynamic_vector_map"/>
+        <remap from="service/get_differential_lanelet_map" to="/map/get_differential_lanelet_map"/>
+        <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
 
       <composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="lanelet2_map_visualization">

map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp

@@ -53,13 +53,14 @@ DynamicLaneletProviderNode::DynamicLaneletProviderNode(const rclcpp::NodeOptions
   timer_callback_group_ = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
 
   dynamic_map_pub_ = this->create_publisher<autoware_auto_mapping_msgs::msg::HADMapBin>(
-    "/map/dynamic_vector_map", rclcpp::QoS{1}.transient_local());
+    "output/lanelet2_map", rclcpp::QoS{1}.transient_local());
 
   map_loader_client_ = this->create_client<autoware_map_msgs::srv::GetDifferentialLanelet2Map>(
-    "/map/get_differential_lanelet_map", rmw_qos_profile_services_default, client_callback_group_);
+    "service/get_differential_lanelet_map", rmw_qos_profile_services_default,
+    client_callback_group_);
 
   odometry_sub_ = this->create_subscription<nav_msgs::msg::Odometry>(
-    "/localization/kinematic_state", 100,
+    "input/odometry", 100,
     std::bind(&DynamicLaneletProviderNode::onOdometry, this, std::placeholders::_1));
 
   const auto projector_info_adaptor = component_interface_utils::NodeAdaptor(this);
@@ -173,9 +174,6 @@ void DynamicLaneletProviderNode::updateMap(const geometry_msgs::msg::Point & pos
     status = result.wait_for(std::chrono::seconds(1));
   }
 
-  autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr map_ptr{
-    std::make_shared<autoware_auto_mapping_msgs::msg::HADMapBin const>(
-      result.get()->differential_map)};
   dynamic_map_pub_->publish(result.get()->differential_map);
 }
 

map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp

@@ -41,7 +41,7 @@ Lanelet2DifferentialLoaderModule::Lanelet2DifferentialLoaderModule(
     });
 
   get_differential_lanelet2_maps_service_ = node->create_service<GetDifferentialLanelet2Map>(
-    "/map/get_differential_lanelet_map",
+    "service/get_differential_lanelet_map",
     std::bind(
       &Lanelet2DifferentialLoaderModule::onServiceGetDifferentialLanelet2Map, this,
       std::placeholders::_1, std::placeholders::_2));

map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp

@@ -83,12 +83,11 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
   declare_parameter("lanelet2_map_path", "");
   declare_parameter("center_line_resolution");
 
-  bool tmp_differential_lanelet2_loading = true;
-  std::vector<std::string> tmp_lanelet2_paths_or_directory = {
-    "/home/bzeren/autoware_map/dummy_800_4/tmp_lanelet2_map.osm"};
+  std::vector<std::string> tmp_lanelet2_paths_or_directory =
+    declare_parameter<std::vector<std::string>>("lanelet2_map_folder_path");
   std::string tmp_lanelet2_map_metadata_path =
-    "/home/bzeren/autoware_map/dummy_800_4/tmp_lanelet2_map_metadata.yaml";
-  if (tmp_differential_lanelet2_loading) {
+    declare_parameter<std::string>("lanelet2_map_metadata_path");
+  if (declare_parameter<bool>("enabled_dynamic_lanelet_loading")) {
     std::map<std::string, Lanelet2FileMetaData> lanelet2_metadata_dict;
     try {
       lanelet2_metadata_dict = getLanelet2Metadata(