refactor(control_launch): organize trajectory_follower_node's param (a…

…utowarefoundation#661) * refactor(control_launch): organize trajectory_follower_node's param Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> Signed-off-by: Takayuki Murooka <[email protected]>
sykwer · Dec 28, 2022 · 094e11d · 094e11d
1 parent 0302028
commit 094e11d
Show file tree

Hide file tree

Showing 2 changed files with 33 additions and 3 deletions.
diff --git a/control_launch/config/trajectory_follower/trajectory_follower_node.param.yaml b/control_launch/config/trajectory_follower/trajectory_follower_node.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    ctrl_period: 0.03
+    timeout_thr_sec: 0.5
diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
@@ -39,6 +39,11 @@ def launch_setup(context, *args, **kwargs):
     lon_controller_param_path = LaunchConfiguration("lon_controller_param_path").perform(context)
     with open(lon_controller_param_path, "r") as f:
         lon_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+    trajectory_follower_node_param_path = LaunchConfiguration(
+        "trajectory_follower_node_param_path"
+    ).perform(context)
+    with open(trajectory_follower_node_param_path, "r") as f:
+        trajectory_follower_node_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     vehicle_cmd_gate_param_path = LaunchConfiguration("vehicle_cmd_gate_param_path").perform(
         context
     )
@@ -83,6 +88,7 @@ def launch_setup(context, *args, **kwargs):
                 "longitudinal_controller_mode": LaunchConfiguration("longitudinal_controller_mode"),
             },
             nearest_search_param,
+            trajectory_follower_node_param,
             lon_controller_param,
             lat_controller_param,
         ],
@@ -208,7 +214,12 @@ def launch_setup(context, *args, **kwargs):
         launch_arguments=[
             ("use_intra_process", LaunchConfiguration("use_intra_process")),
             ("target_container", "/control/control_container"),
-            ("initial_selector_mode", LaunchConfiguration("initial_selector_mode")),
+            # This is temporary uncomment. I will replace control_launch with tier4_control_launch soon.
+            # ("initial_selector_mode", LaunchConfiguration("initial_selector_mode")),
+            (
+                "external_cmd_selector_param_path",
+                LaunchConfiguration("external_cmd_selector_param_path"),
+            ),
         ],
     )
 
@@ -284,15 +295,23 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "lat_controller_param_path",
         [
             FindPackageShare("control_launch"),
-            "/config/mpc_lateral_controller/mpc_lateral_controller.param.yaml",
+            "/config/trajectory_follower/lateral/mpc.param.yaml",
         ],
         "path to the parameter file of lateral controller. default is `mpc_follower`",
     )
     add_launch_arg(
         "lon_controller_param_path",
         [
             FindPackageShare("control_launch"),
-            "/config/pid_longitudinal_controller/pid_longitudinal_controller.param.yaml",
+            "/config/trajectory_follower/longitudinal/pid.param.yaml",
+        ],
+        "path to the parameter file of longitudinal controller",
+    )
+    add_launch_arg(
+        "trajectory_follower_node_param_path",
+        [
+            FindPackageShare("control_launch"),
+            "/config/trajectory_follower/trajectory_follower_node.param.yaml",
         ],
         "path to the parameter file of longitudinal controller",
     )
@@ -332,6 +351,13 @@ def add_launch_arg(name: str, default_value=None, description=None):
 
     # external cmd selector
     add_launch_arg("initial_selector_mode", "remote", "local or remote")
+    add_launch_arg(
+        "external_cmd_selector_param_path",
+        [
+            FindPackageShare("external_cmd_selector"),
+            "/config/external_cmd_selector.param.yaml",
+        ],
+    )
 
     # component
     add_launch_arg("use_intra_process", "false", "use ROS2 component container communication")