From fd7fcd7f347e6e9b488f985aef1fe741c4f9a537 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Wed, 9 Aug 2023 17:38:37 +0900
Subject: [PATCH] fix: fix vehicle_id reflection (#166)

* fix: fix vehicle_id reflection

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert radar

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 aip_x1_launch/launch/imu.launch.xml      | 3 ++-
 aip_x1_launch/launch/sensing.launch.xml  | 3 ++-
 aip_x2_launch/launch/imu.launch.xml      | 3 ++-
 aip_x2_launch/launch/sensing.launch.xml  | 3 ++-
 aip_xx1_launch/launch/imu.launch.xml     | 3 ++-
 aip_xx1_launch/launch/lidar.launch.xml   | 4 ++--
 aip_xx1_launch/launch/sensing.launch.xml | 3 ++-
 7 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/aip_x1_launch/launch/imu.launch.xml b/aip_x1_launch/launch/imu.launch.xml
index 0771709b..65adb040 100644
--- a/aip_x1_launch/launch/imu.launch.xml
+++ b/aip_x1_launch/launch/imu.launch.xml
@@ -1,6 +1,7 @@
 <launch>
 
   <arg name="launch_driver" default="true" />
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
   <group>
     <push-ros-namespace namespace="imu"/>
@@ -8,7 +9,7 @@
     <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="/sensing/lidar/front_center/livox/imu" />
       <arg name="output_topic" value="/sensing/imu/imu_data" />
-      <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/aip_x1/imu_corrector.param.yaml" />
+      <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/imu_corrector.param.yaml" />
     </include>
 
   </group>
diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml
index a8586c40..a0fbd4b2 100644
--- a/aip_x1_launch/launch/sensing.launch.xml
+++ b/aip_x1_launch/launch/sensing.launch.xml
@@ -4,6 +4,7 @@
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
   <group>
 
@@ -34,7 +35,7 @@
     <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
-      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/aip_x1/vehicle_velocity_converter.param.yaml" />
+      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/vehicle_velocity_converter.param.yaml" />
     </include>
   </group>
 
diff --git a/aip_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml
index 20a8a7fa..dd408973 100644
--- a/aip_x2_launch/launch/imu.launch.xml
+++ b/aip_x2_launch/launch/imu.launch.xml
@@ -6,6 +6,7 @@
     <arg name="launch_driver" default="true" />
     <arg name="interface" default="pcan1"/>
     <arg name="receiver_interval_sec" default="0.01"/>
+    <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
     <group>
       <push-ros-namespace namespace="tamagawa"/>
@@ -23,7 +24,7 @@
     <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="tamagawa/imu_raw" />
       <arg name="output_topic" value="imu_data" />
-      <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/aip_x2/imu_corrector.param.yaml" />
+      <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/imu_corrector.param.yaml" />
     </include>
   </group>
 
diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml
index ee669834..51614263 100644
--- a/aip_x2_launch/launch/sensing.launch.xml
+++ b/aip_x2_launch/launch/sensing.launch.xml
@@ -4,6 +4,7 @@
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
   <group>
 
@@ -34,7 +35,7 @@
     <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
-      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/aip_x2/vehicle_velocity_converter.param.yaml" />
+      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/vehicle_velocity_converter.param.yaml" />
     </include>
   </group>
 
diff --git a/aip_xx1_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml
index fe16af85..72f70ad0 100644
--- a/aip_xx1_launch/launch/imu.launch.xml
+++ b/aip_xx1_launch/launch/imu.launch.xml
@@ -1,6 +1,7 @@
 <launch>
 
   <arg name="launch_driver" default="true" />
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
   <group>
     <push-ros-namespace namespace="imu"/>
@@ -17,7 +18,7 @@
     <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="tamagawa/imu_raw" />
       <arg name="output_topic" value="imu_data" />
-      <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/aip_xx1/imu_corrector.param.yaml" />
+      <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml" />
     </include>
   </group>
 
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 8ae4cfeb..4859302c 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -80,7 +80,7 @@
       <push-ros-namespace namespace="front_left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/livox_horizon.launch.py">
         <arg name="sensor_frame" value="livox_front_left" />
-        <arg name="bd_code_param_path" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/aip_xx1/livox_front_left_bd_code.param.yaml" />
+        <arg name="bd_code_param_path" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/livox_front_left_bd_code.param.yaml" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
@@ -90,7 +90,7 @@
       <push-ros-namespace namespace="front_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/livox_horizon.launch.py">
         <arg name="sensor_frame" value="livox_front_right" />
-        <arg name="bd_code_param_path" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/aip_xx1/livox_front_right_bd_code.param.yaml" />
+        <arg name="bd_code_param_path" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/livox_front_right_bd_code.param.yaml" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index 877c2891..ba6b935c 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -5,6 +5,7 @@
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_fusion, lidar, camera"/>
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
   <group>
 
@@ -40,7 +41,7 @@
     <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
-      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/aip_xx1/vehicle_velocity_converter.param.yaml" />
+      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/vehicle_velocity_converter.param.yaml" />
     </include>
 
   </group>