From d747718ae2fba2c707edfa910eb8da9c0ef3a26c Mon Sep 17 00:00:00 2001
From: Fumiya Watanabe <rej55.g@gmail.com>
Date: Tue, 23 Jan 2024 11:51:29 +0900
Subject: [PATCH] fix(raw_vehicle_cmd_converter): fix parameter files to parse
 path to csv files (#6136)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
---
 .../launch/vehicle.launch.xml                     |  2 ++
 .../config/raw_vehicle_cmd_converter.param.yaml   |  3 ---
 .../launch/raw_vehicle_converter.launch.xml       |  7 +++++++
 .../schema/raw_vehicle_cmd_converter.schema.json  | 15 ---------------
 4 files changed, 9 insertions(+), 18 deletions(-)

diff --git a/launch/tier4_vehicle_launch/launch/vehicle.launch.xml b/launch/tier4_vehicle_launch/launch/vehicle.launch.xml
index 0493e1ae0bbcf..0e1d22bfd1827 100644
--- a/launch/tier4_vehicle_launch/launch/vehicle.launch.xml
+++ b/launch/tier4_vehicle_launch/launch/vehicle.launch.xml
@@ -6,6 +6,7 @@
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
   <arg name="initial_engage_state" default="false" description="/vehicle/engage state after starting Autoware"/>
   <arg name="config_dir" default="$(find-pkg-share $(var sensor_model)_description)/config" description="path to dir where sensors_calibration.yaml, etc. are located"/>
+  <arg name="raw_vehicle_cmd_converter_param_path" default="$(find-pkg-share raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml"/>
 
   <let name="vehicle_launch_pkg" value="$(find-pkg-share $(var vehicle_model)_launch)"/>
 
@@ -21,6 +22,7 @@
   <group if="$(var launch_vehicle_interface)">
     <include file="$(var vehicle_launch_pkg)/launch/vehicle_interface.launch.xml">
       <arg name="vehicle_id" value="$(var vehicle_id)"/>
+      <arg name="raw_vehicle_cmd_converter_param_path" value="$(var raw_vehicle_cmd_converter_param_path)"/>
       <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
     </include>
   </group>
diff --git a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
index d63a115304a87..1001696d96679 100644
--- a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
+++ b/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
@@ -1,8 +1,5 @@
 /**:
   ros__parameters:
-    csv_path_accel_map: "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"
-    csv_path_brake_map: "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"
-    csv_path_steer_map: "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv"
     convert_accel_cmd: true
     convert_brake_cmd: true
     convert_steer_cmd: true
diff --git a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml b/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
index 0a9962a7c2a30..a74cdcc56132d 100644
--- a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
+++ b/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
@@ -1,5 +1,9 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="csv_path_accel_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"/>
+  <arg name="csv_path_brake_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"/>
+  <arg name="csv_path_steer_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv"/>
+
   <arg name="input_control_cmd" default="/control/command/control_cmd"/>
   <arg name="input_odometry" default="/localization/kinematic_state"/>
   <arg name="input_steering" default="/vehicle/status/steering_status"/>
@@ -9,6 +13,9 @@
 
   <node pkg="raw_vehicle_cmd_converter" exec="raw_vehicle_cmd_converter_node" name="raw_vehicle_cmd_converter" output="screen">
     <param from="$(var config_file)" allow_substs="true"/>
+    <param name="csv_path_accel_map" value="$(var csv_path_accel_map)"/>
+    <param name="csv_path_brake_map" value="$(var csv_path_brake_map)"/>
+    <param name="csv_path_steer_map" value="$(var csv_path_steer_map)"/>
     <remap from="~/input/control_cmd" to="$(var input_control_cmd)"/>
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
     <remap from="~/input/steering" to="$(var input_steering)"/>
diff --git a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
index 4b562f401e09b..aa8936d331a87 100644
--- a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
+++ b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
@@ -6,21 +6,6 @@
     "raw_vehicle_cmd_converter": {
       "type": "object",
       "properties": {
-        "csv_path_accel_map": {
-          "type": "string",
-          "description": "path for acceleration map csv file",
-          "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"
-        },
-        "csv_path_brake_map": {
-          "type": "string",
-          "description": "path for brake map csv file",
-          "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"
-        },
-        "csv_path_steer_map": {
-          "type": "string",
-          "description": "path for steer map csv file",
-          "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv"
-        },
         "convert_accel_cmd": {
           "type": "boolean",
           "description": "use accel or not",