fix(joy_controller): joy_type is only set from the param.yaml file

[xmfcx]

Description

Part of:

• Fix json-schema-check errors and make the workflow required #6473

Related:

• chore(planning/control/vehicle): declare ROS params in yaml files #6217

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Not applicable.

Effects on system behavior

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[xmfcx]

@satoshi-ota @rej55 I've looked for all the references of this joy_type parameter and it is not referenced by any other launch file.

If someone wants to set this parameter, they should use the param.yaml file as planned.

Please review 🙇‍♂️

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 14.64%. Comparing base (b86a00d) to head (a075503).
Report is 4 commits behind head on main.

Additional details and impacted files

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  Files        1899     1899           
  Lines      130282   130282           
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[kaspermeck-arm]

LGTM!

[xmfcx]

@rej55 @satoshi-ota @shmpwk @taikitanaka3 @TakaHoribe @takayuki5168 @tkimura4

Could you review as a code owner? I would like to merge this as soon as possible and make the action required.

[rej55]

@xmfcx
This package should be optionally launched, separate from Autoware, if we would like to control from joy.
The launch command is like following.

ros2 launch joy_controller joy_controller.launch.xml joy_type:=G29

As you can see, we would like to launch joy_controller with joy_typeargument, so joy_type should be able to change dynamically.

[xmfcx]

@rej55 you can call it like:

ros2 launch joy_controller joy_controller.launch.xml config_file:=/path/to/config-file.param.yaml

And set it in the .param.yaml file.

Why is this not enough?

[xmfcx]

If necessary, we can generate 4 param.yaml files for each joystick type, would this be alright?

[rej55]

@xmfcx
Thank you for your suggestion.
It seems okay for me.

I will ask the user of this package.
Could you wait?
(It may take a while to reply because it is a holiday... 🙇)

[xmfcx]

Another option would be to create a second launch file, called joy_controller_no_yaml.launch.xml or joy_controller_direct_params.launch.xml.

And this new launch file wouldn't use the param.yaml at all. All params would be set in the launch file.

By default we would use the joy_controller.launch.xml and for convenience, you could use the joy_controller_no_yaml version.

What do you think?

[xmfcx]

@rej55 Watanabe-san, happy birthday :D sorry for writing in the holiday time!

It's totally ok to merge this early next week!

It's so simple after all, I am open for negotiations for the ways to implement this.

[shmpwk]

I agree launching joy_controller with

ros2 launch joy_controller joy_controller.launch.xml config_file:=/path/to/config-file.param.yaml

I think it would be better to add instructions on how to launch it to the README for previous users.

[rej55]

@xmfcx
Thank you for waiting, the users also agreed the following suggestion;

If necessary, we can generate 4 param.yaml files for each joystick type, would this be alright?

Could you make these parameter files and add instruction to README?

[xmfcx]

@rej55 @shmpwk I've updated the README and the param files and the launch file.

Also added a new simple launch file to make everyone happy.

# With default config (ds4)
ros2 launch joy_controller joy_controller.launch.xml

# Default config but select from the existing parameter files
ros2 launch joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox

# Override the param file
ros2 launch joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml

The old users can make use of the new joy_controller_param_selection.launch.xml launch file to select a config easily from the terminal.

The default launch file makes use of the param files as agreed.

[xmfcx]

@rej55 @shmpwk ready for review again.

[shmpwk]

LGTM!

[rej55]

LGTM. Thank you.