add map_loader_name in param.yaml

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

Author: KYabuuchi

localization/pose_initializer/config/pose_initializer.param.yaml

@@ -8,6 +8,8 @@
     ndt_enabled: $(var ndt_enabled)
     stop_check_enabled: $(var stop_check_enabled)
 
+    map_loader_name: /map/pointcloud_map_loader
+
     # from gnss
     gnss_particle_covariance:
       [

localization/pose_initializer/launch/pose_initializer.launch.xml

@@ -17,7 +17,7 @@
     <remap from="pose_reset" to="/initialpose3d"/>
     <remap from="ekf_trigger_node" to="/localization/pose_twist_fusion_filter/trigger_node"/>
     <remap from="ndt_trigger_node" to="/localization/pose_estimator/trigger_node"/>
-    <param name="map_loader_name" value="/map/pointcloud_map_loader"/>
+
     <remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
     <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
   </node>

localization/pose_initializer/schema/pose_initializer.schema.json

@@ -52,6 +52,11 @@
           "type": "array",
           "description": "output pose covariance",
           "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0,  0.0,  0.0,  0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]"
+        },
+        "map_loader_name": {
+          "type": "string",
+          "description": "Node name of the map loader from which this node will retrieve its parameters",
+          "default": "/map/pointcloud_map_loader"
         }
       },
       "required": [
@@ -63,7 +68,8 @@
         "ndt_enabled",
         "stop_check_enabled",
         "gnss_particle_covariance",
-        "output_pose_covariance"
+        "output_pose_covariance",
+        "map_loader_name"
       ],
       "additionalProperties": false
     }