change param path

Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Jun 6, 2024 · fde9b2a · fde9b2a
1 parent b8eed4e
commit fde9b2a
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/control/autoware_control_validator/launch/control_validator.launch.xml b/control/autoware_control_validator/launch/control_validator.launch.xml
@@ -1,11 +1,11 @@
 <launch>
-  <arg name="autoware_control_validator_param_path" default="$(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml"/>
+  <arg name="control_validator_param_path" default="$(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml"/>
   <arg name="input_reference_trajectory" default="/planning/scenario_planning/trajectory"/>
   <arg name="input_predicted_trajectory" default="/control/trajectory_follower/lateral/predicted_trajectory"/>
 
   <node name="control_validator" exec="autoware_control_validator_node" pkg="autoware_control_validator" output="screen">
     <!-- load config a file -->
-    <param from="$(var autoware_control_validator_param_path)"/>
+    <param from="$(var control_validator_param_path)"/>
 
     <!-- remap topic name -->
     <remap from="~/input/reference_trajectory" to="$(var input_reference_trajectory)"/>

diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
@@ -50,9 +50,7 @@ def launch_setup(context, *args, **kwargs):
         vehicle_cmd_gate_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(LaunchConfiguration("lane_departure_checker_param_path").perform(context), "r") as f:
         lane_departure_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    with open(
-        LaunchConfiguration("autoware_control_validator_param_path").perform(context), "r"
-    ) as f:
+    with open(LaunchConfiguration("control_validator_param_path").perform(context), "r") as f:
         autoware_control_validator_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(
         LaunchConfiguration("operation_mode_transition_manager_param_path").perform(context), "r"
@@ -466,7 +464,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("lon_controller_param_path")
     add_launch_arg("vehicle_cmd_gate_param_path")
     add_launch_arg("lane_departure_checker_param_path")
-    add_launch_arg("autoware_control_validator_param_path")
+    add_launch_arg("control_validator_param_path")
     add_launch_arg("operation_mode_transition_manager_param_path")
     add_launch_arg("shift_decider_param_path")
     add_launch_arg("obstacle_collision_checker_param_path")