set the default vehicle description and parser it

Signed-off-by: Zhe Shen <[email protected]>

control/consistency_checker.py

@@ -10,44 +10,36 @@ def read_yaml(file_path):
     with open(file_path, "r") as file:
         return yaml.safe_load(file)
 
-
-autoware_launch_path = get_package_share_directory("autoware_launch")
-vehicle_description_path = get_package_share_directory("j6_gen1_description")
-
-default_mpc_param_file_path = (
-    f"{autoware_launch_path}/config/control/trajectory_follower/lateral/mpc.param.yaml"
-)
-default_pid_param_file_path = (
-    f"{autoware_launch_path}/config/control/trajectory_follower/longitudinal/pid.param.yaml"
-)
-default_simulator_model_param_file_path = (
-    f"{vehicle_description_path}/config/simulator_model.param.yaml"
-)
-
 parser = argparse.ArgumentParser(
     description="Process the parameters of the controllers and simulator."
 )
 
+parser.add_argument(
+    "--vehicle_description",
+    help="Specify the vehicle description package name",
+    default="sample_vehicle_description"
+)
 parser.add_argument(
     "--mpc_param_file",
-    help="Override the default MPC parameter file path",
-    default=default_mpc_param_file_path,
+    help="Override the default MPC parameter file path"
 )
 parser.add_argument(
     "--pid_param_file",
-    help="Override the default PID parameter file path",
-    default=default_pid_param_file_path,
+    help="Override the default PID parameter file path"
 )
 parser.add_argument(
     "--simulator_model_param_file",
-    help="Override the default simulator model parameter file path",
-    default=default_simulator_model_param_file_path,
+    help="Override the default simulator model parameter file path"
 )
 
 args = parser.parse_args()
-mpc_param_file_path = args.mpc_param_file
-pid_param_file_path = args.pid_param_file
-simulator_model_param_file_path = args.simulator_model_param_file
+
+autoware_launch_path = get_package_share_directory("autoware_launch")
+vehicle_description_path = get_package_share_directory(args.vehicle_description)
+
+mpc_param_file_path = args.mpc_param_file if args.mpc_param_file else f"{autoware_launch_path}/config/control/trajectory_follower/lateral/mpc.param.yaml"
+pid_param_file_path = args.pid_param_file if args.pid_param_file else f"{autoware_launch_path}/config/control/trajectory_follower/longitudinal/pid.param.yaml"
+simulator_model_param_file_path = args.simulator_model_param_file if args.simulator_model_param_file else f"{vehicle_description_path}/config/simulator_model.param.yaml"
 
 mpc_params = read_yaml(mpc_param_file_path)["/**"]["ros__parameters"]
 pid_params = read_yaml(pid_param_file_path)["/**"]["ros__parameters"]