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fix(external_cmd_converter): define timer_rate parameter #5719

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merged 1 commit into from
Nov 30, 2023
Merged

fix(external_cmd_converter): define timer_rate parameter #5719

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6 changes: 6 additions & 0 deletions vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -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"),
Expand Down
2 changes: 2 additions & 0 deletions vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
Expand All @@ -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)"/>
Expand Down