refactor: Create .yaml file for default parameters of transform_maps.launch.xml

Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp>

Author: Motsu-san

map/util/lanelet2_map_preprocessor/CMakeLists.txt

@@ -29,5 +29,6 @@ if(BUILD_TESTING)
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE
+  config
   launch
 )

map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0

map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml

@@ -4,23 +4,13 @@
   <arg name="pcd_map_path" default=""/>
   <arg name="llt_output_path" default=""/>
   <arg name="pcd_output_path" default=""/>
-  <arg name="x" default="0.0"/>
-  <arg name="y" default="0.0"/>
-  <arg name="z" default="0.0"/>
-  <arg name="roll" default="0.0"/>
-  <arg name="pitch" default="0.0"/>
-  <arg name="yaw" default="0.0"/>
+  <arg name="param_file" default="$(find-pkg-share lanelet2_map_preprocessor)/config/transform_maps.param.yaml"/>
 
   <node pkg="lanelet2_map_preprocessor" exec="transform_maps" name="transform_maps" output="screen">
     <param name="llt_map_path" value="$(var llt_map_path)"/>
     <param name="pcd_map_path" value="$(var pcd_map_path)"/>
     <param name="llt_output_path" value="$(var llt_output_path)"/>
     <param name="pcd_output_path" value="$(var pcd_output_path)"/>
-    <param name="x" value="$(var x)"/>
-    <param name="y" value="$(var y)"/>
-    <param name="z" value="$(var z)"/>
-    <param name="roll" value="$(var roll)"/>
-    <param name="pitch" value="$(var pitch)"/>
-    <param name="yaw" value="$(var yaw)"/>
+    <param from="$(var param_file)"/>
   </node>
 </launch>

map/util/lanelet2_map_preprocessor/src/transform_maps.cpp

@@ -107,12 +107,12 @@ int main(int argc, char * argv[])
   const auto pcd_map_path = node->declare_parameter<std::string>("pcd_map_path");
   const auto llt_output_path = node->declare_parameter<std::string>("llt_output_path");
   const auto pcd_output_path = node->declare_parameter<std::string>("pcd_output_path");
-  const auto x = node->declare_parameter<double>("x", 0.0);
-  const auto y = node->declare_parameter<double>("y", 0.0);
-  const auto z = node->declare_parameter<double>("z", 0.0);
-  const auto roll = node->declare_parameter<double>("roll", 0.0);
-  const auto pitch = node->declare_parameter<double>("pitch", 0.0);
-  const auto yaw = node->declare_parameter<double>("yaw", 0.0);
+  const auto x = node->declare_parameter<double>("x");
+  const auto y = node->declare_parameter<double>("y");
+  const auto z = node->declare_parameter<double>("z");
+  const auto roll = node->declare_parameter<double>("roll");
+  const auto pitch = node->declare_parameter<double>("pitch");
+  const auto yaw = node->declare_parameter<double>("yaw");
 
   std::cout << "transforming maps with following parameters" << std::endl
             << "x " << x << std::endl