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fix(raw_vehicle_cmd_converter): csv paths are resolved in param.yaml #6476

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merged 3 commits into from
Mar 7, 2024
Merged

fix(raw_vehicle_cmd_converter): csv paths are resolved in param.yaml #6476

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92462ff
fix(raw_vehicle_cmd_converter): csv paths are resolved in param.yaml
Feb 21, 2024
4c8883a
bring back the schema defs
Feb 21, 2024
7ad4075
bring back removed map schema lines
Feb 22, 2024
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3 changes: 3 additions & 0 deletions vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,8 @@
/**:
ros__parameters:
csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv
csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv
csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv
convert_accel_cmd: true
convert_brake_cmd: true
convert_steer_cmd: true
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7 changes: 0 additions & 7 deletions vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,9 +1,5 @@
<?xml version="1.0"?>
<launch>
<arg name="csv_path_accel_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"/>
<arg name="csv_path_brake_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"/>
<arg name="csv_path_steer_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv"/>

<arg name="input_control_cmd" default="/control/command/control_cmd"/>
<arg name="input_odometry" default="/localization/kinematic_state"/>
<arg name="input_steering" default="/vehicle/status/steering_status"/>
Expand All @@ -13,9 +9,6 @@

<node pkg="raw_vehicle_cmd_converter" exec="raw_vehicle_cmd_converter_node" name="raw_vehicle_cmd_converter" output="screen">
<param from="$(var config_file)" allow_substs="true"/>
<param name="csv_path_accel_map" value="$(var csv_path_accel_map)"/>
<param name="csv_path_brake_map" value="$(var csv_path_brake_map)"/>
<param name="csv_path_steer_map" value="$(var csv_path_steer_map)"/>
<remap from="~/input/control_cmd" to="$(var input_control_cmd)"/>
<remap from="~/input/odometry" to="$(var input_odometry)"/>
<remap from="~/input/steering" to="$(var input_steering)"/>
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18 changes: 18 additions & 0 deletions vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,21 @@
"raw_vehicle_cmd_converter": {
"type": "object",
"properties": {
"csv_path_accel_map": {
"type": "string",
"description": "path for acceleration map csv file",
"default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"
},
"csv_path_brake_map": {
"type": "string",
"description": "path for brake map csv file",
"default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"
},
"csv_path_steer_map": {
"type": "string",
"description": "path for steer map csv file",
"default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv"
},
"convert_accel_cmd": {
"type": "boolean",
"description": "use accel or not",
Expand Down Expand Up @@ -142,6 +157,9 @@
}
},
"required": [
"csv_path_accel_map",
"csv_path_brake_map",
"csv_path_steer_map",
"convert_accel_cmd",
"convert_brake_cmd",
"convert_steer_cmd",
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