fix(external_cmd_converter): define timer_rate parameter (#5719)

The commit introduces a missing launch argument "timer_rate" to the external_cmd_converter. This parameter is used to set the update rate of the timer. The default value for this parameter is 10.0. The changes have been reflected in both .py and .xml launch files.

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Author: kyoichi-sugahara

vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py

@@ -52,6 +52,11 @@ def generate_launch_description():
             default_value="3.0",
             description="gain for external command accel",
         ),
+        DeclareLaunchArgument(
+            "timer_rate",
+            default_value="10.0",
+            description="timer's update rate",
+        ),
         DeclareLaunchArgument(
             "wait_for_first_topic",
             default_value="true",
@@ -118,6 +123,7 @@ def generate_launch_description():
                     _create_mapping_tuple("csv_path_accel_map"),
                     _create_mapping_tuple("csv_path_brake_map"),
                     _create_mapping_tuple("ref_vel_gain"),
+                    _create_mapping_tuple("timer_rate"),
                     _create_mapping_tuple("wait_for_first_topic"),
                     _create_mapping_tuple("control_command_timeout"),
                     _create_mapping_tuple("emergency_stop_timeout"),

vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml

@@ -6,6 +6,7 @@
 
   <!-- settings -->
   <arg name="ref_vel_gain" default="3.0"/>
+  <arg name="timer_rate" default="10.0"/>
   <arg name="wait_for_first_topic" default="true"/>
   <arg name="control_command_timeout" default="1.0"/>
   <arg name="emergency_stop_timeout" default="3.0"/>
@@ -26,6 +27,7 @@
     <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)"/>