feat: use object_centers.csv in share directory (#47)

* feat: install lidar_sim/config to share dir * feat: load object csv from share dir (autoware_practice_lidar_simulator) * fix: add include ament_index_cpp * fix: use INSTALL_TO_SHARE in lidar_simulator pkg * style: pre-commit Signed-off-by: Takagi, Isamu <[email protected]> --------- Signed-off-by: Takagi, Isamu <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]>
AutomotiveAIChallenge · Jun 27, 2024 · 12acc1c · 12acc1c
1 parent 98b23a4
commit 12acc1c
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Showing 3 changed files with 6 additions and 2 deletions.
diff --git a/src/autoware_practice_lidar_simulator/CMakeLists.txt b/src/autoware_practice_lidar_simulator/CMakeLists.txt
@@ -30,4 +30,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_auto_package(INSTALL_TO_SHARE launch)
+ament_auto_package(INSTALL_TO_SHARE config launch)
diff --git a/src/autoware_practice_lidar_simulator/package.xml b/src/autoware_practice_lidar_simulator/package.xml
@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_auto_control_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>

diff --git a/src/autoware_practice_lidar_simulator/src/simple_lidar_simulator.cpp b/src/autoware_practice_lidar_simulator/src/simple_lidar_simulator.cpp
@@ -14,6 +14,8 @@
 
 #include "simple_lidar_simulator.hpp"
 
+#include <ament_index_cpp/get_package_share_directory.hpp>
+
 #include <pcl_conversions/pcl_conversions.h>
 
 #include <fstream>
@@ -35,7 +37,8 @@ SampleNode::SampleNode() : Node("simple_lidar_simulator")
   timer_ = rclcpp::create_timer(this, get_clock(), period, [this] { on_timer(); });
 
   // 物体の中心位置リストをCSVから読み取って初期化
-  object_centers_ = load_object_centers_from_csv("src/autoware_practice_lidar_simulator/config/object_centers.csv");
+  const auto pkg_path = ament_index_cpp::get_package_share_directory("autoware_practice_lidar_simulator");
+  object_centers_ = load_object_centers_from_csv(pkg_path + "/config/object_centers.csv");
 }
 
 void SampleNode::pose_callback(const PoseStamped::SharedPtr msg)