From 4f7558e5145d2cbe87c58825fe77859887c48dfb Mon Sep 17 00:00:00 2001
From: Fumiya Watanabe <rej55.g@gmail.com>
Date: Mon, 22 Jan 2024 18:27:36 +0900
Subject: [PATCH] fix(external_velocity_limit_selector): revert
 "refactor(external_velocity_limit_selector): rework parameter (#5238)"
 (#6132)

Revert "refactor(external_velocity_limit_selector): rework parameter (#5238)"

This reverts commit 19dab56af8fffde3b5778cf2c8ab6d20a4237f7d.
---
 .../README.md                                 | 12 ++-
 .../config/default.param.yaml                 |  4 +
 .../config/default_common.param.yaml          | 15 ++++
 ...xternal_velocity_limit_selector.param.yaml | 18 ----
 ...xternal_velocity_limit_selector.launch.xml |  6 +-
 ...ternal_velocity_limit_selector.schema.json | 85 -------------------
 6 files changed, 34 insertions(+), 106 deletions(-)
 create mode 100644 planning/external_velocity_limit_selector/config/default.param.yaml
 create mode 100644 planning/external_velocity_limit_selector/config/default_common.param.yaml
 delete mode 100644 planning/external_velocity_limit_selector/config/external_velocity_limit_selector.param.yaml
 delete mode 100644 planning/external_velocity_limit_selector/schema/external_velocity_limit_selector.schema.json

diff --git a/planning/external_velocity_limit_selector/README.md b/planning/external_velocity_limit_selector/README.md
index 2dc76dd3aec6e..92579bfd0abce 100644
--- a/planning/external_velocity_limit_selector/README.md
+++ b/planning/external_velocity_limit_selector/README.md
@@ -51,7 +51,17 @@ Example:
 
 ## Parameters
 
-{{ json_to_markdown("planning/external_velocity_limit_selector/schema/external_velocity_limit_selector.schema.json") }}
+| Parameter         | Type   | Description                                |
+| ----------------- | ------ | ------------------------------------------ |
+| `max_velocity`    | double | default max velocity [m/s]                 |
+| `normal.min_acc`  | double | minimum acceleration [m/ss]                |
+| `normal.max_acc`  | double | maximum acceleration [m/ss]                |
+| `normal.min_jerk` | double | minimum jerk [m/sss]                       |
+| `normal.max_jerk` | double | maximum jerk [m/sss]                       |
+| `limit.min_acc`   | double | minimum acceleration to be observed [m/ss] |
+| `limit.max_acc`   | double | maximum acceleration to be observed [m/ss] |
+| `limit.min_jerk`  | double | minimum jerk to be observed [m/sss]        |
+| `limit.max_jerk`  | double | maximum jerk to be observed [m/sss]        |
 
 ## Assumptions / Known limits
 
diff --git a/planning/external_velocity_limit_selector/config/default.param.yaml b/planning/external_velocity_limit_selector/config/default.param.yaml
new file mode 100644
index 0000000000000..8023776e191ba
--- /dev/null
+++ b/planning/external_velocity_limit_selector/config/default.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    # motion state constraints
+    max_velocity: 20.0      # max velocity limit [m/s]
diff --git a/planning/external_velocity_limit_selector/config/default_common.param.yaml b/planning/external_velocity_limit_selector/config/default_common.param.yaml
new file mode 100644
index 0000000000000..a23570a5fc791
--- /dev/null
+++ b/planning/external_velocity_limit_selector/config/default_common.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # constraints param for normal driving
+    normal:
+      min_acc: -0.5         # min deceleration [m/ss]
+      max_acc: 1.0          # max acceleration [m/ss]
+      min_jerk: -0.5        # min jerk [m/sss]
+      max_jerk: 1.0         # max jerk [m/sss]
+
+    # constraints to be observed
+    limit:
+      min_acc: -2.5         # min deceleration limit [m/ss]
+      max_acc: 1.0          # max acceleration limit [m/ss]
+      min_jerk: -1.5        # min jerk limit [m/sss]
+      max_jerk: 1.5         # max jerk limit [m/sss]
diff --git a/planning/external_velocity_limit_selector/config/external_velocity_limit_selector.param.yaml b/planning/external_velocity_limit_selector/config/external_velocity_limit_selector.param.yaml
deleted file mode 100644
index 472b9370607b5..0000000000000
--- a/planning/external_velocity_limit_selector/config/external_velocity_limit_selector.param.yaml
+++ /dev/null
@@ -1,18 +0,0 @@
-/**:
-  ros__parameters:
-    # constraints param for normal driving
-    normal:
-      min_acc: -0.5 # min deceleration [m/ss]
-      max_acc: 1.0 # max acceleration [m/ss]
-      min_jerk: -0.5 # min jerk [m/sss]
-      max_jerk: 1.0 # max jerk [m/sss]
-
-    # constraints to be observed
-    limit:
-      min_acc: -2.5 # min deceleration limit [m/ss]
-      max_acc: 1.0 # max acceleration limit [m/ss]
-      min_jerk: -1.5 # min jerk limit [m/sss]
-      max_jerk: 1.5 # max jerk limit [m/sss]
-
-    # motion state constraints
-    max_velocity: 20.0 # max velocity limit [m/s]
diff --git a/planning/external_velocity_limit_selector/launch/external_velocity_limit_selector.launch.xml b/planning/external_velocity_limit_selector/launch/external_velocity_limit_selector.launch.xml
index c499c0741f09f..5ef089f3d3ee7 100644
--- a/planning/external_velocity_limit_selector/launch/external_velocity_limit_selector.launch.xml
+++ b/planning/external_velocity_limit_selector/launch/external_velocity_limit_selector.launch.xml
@@ -1,6 +1,7 @@
 <launch>
   <!-- common param -->
-  <arg name="external_velocity_limit_selector_param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/external_velocity_limit_selector.param.yaml"/>
+  <arg name="common_param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/default_common.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/default.param.yaml"/>
 
   <!-- input/output -->
   <arg name="input_velocity_limit_from_api" default="/planning/scenario_planning/max_velocity_default"/>
@@ -10,7 +11,8 @@
   <arg name="output_debug_string" default="/planning/scenario_planning/external_velocity_limit_selector/debug"/>
 
   <node pkg="external_velocity_limit_selector" exec="external_velocity_limit_selector" name="external_velocity_limit_selector" output="screen">
-    <param from="$(var external_velocity_limit_selector_param_path)"/>
+    <param from="$(var common_param_path)"/>
+    <param from="$(var param_path)"/>
     <remap from="input/velocity_limit_from_api" to="$(var input_velocity_limit_from_api)"/>
     <remap from="input/velocity_limit_from_internal" to="$(var input_velocity_limit_from_internal)"/>
     <remap from="input/velocity_limit_clear_command_from_internal" to="$(var input_velocity_limit_clear_command_from_internal)"/>
diff --git a/planning/external_velocity_limit_selector/schema/external_velocity_limit_selector.schema.json b/planning/external_velocity_limit_selector/schema/external_velocity_limit_selector.schema.json
deleted file mode 100644
index 36fdaf31cbc6f..0000000000000
--- a/planning/external_velocity_limit_selector/schema/external_velocity_limit_selector.schema.json
+++ /dev/null
@@ -1,85 +0,0 @@
-{
-  "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "Parameters for external velocity limit selector node",
-  "type": "object",
-  "definitions": {
-    "external_velocity_limit_selector": {
-      "type": "object",
-      "properties": {
-        "max_velocity": {
-          "type": "number",
-          "description": "max velocity limit [m/s]",
-          "default": 20.0
-        },
-        "normal": {
-          "type": "object",
-          "properties": {
-            "min_acc": {
-              "type": "number",
-              "description": "min deceleration [m/ss]",
-              "default": -0.5
-            },
-            "max_acc": {
-              "type": "number",
-              "description": "max acceleration [m/ss]",
-              "default": 1.0
-            },
-            "min_jerk": {
-              "type": "number",
-              "description": "min jerk [m/sss]",
-              "default": -0.5
-            },
-            "max_jerk": {
-              "type": "number",
-              "description": "max jerk [m/sss]",
-              "default": 1.0
-            }
-          },
-          "required": ["min_acc", "max_acc", "min_jerk", "max_jerk"]
-        },
-        "limit": {
-          "type": "object",
-          "properties": {
-            "min_acc": {
-              "type": "number",
-              "description": "min deceleration to be observed [m/ss]",
-              "default": -2.5
-            },
-            "max_acc": {
-              "type": "number",
-              "description": "max acceleration to be observed [m/ss]",
-              "default": 1.0
-            },
-            "min_jerk": {
-              "type": "number",
-              "description": "min jerk to be observed [m/sss]",
-              "default": -1.5
-            },
-            "max_jerk": {
-              "type": "number",
-              "description": "max jerk to be observed [m/sss]",
-              "default": 1.5
-            }
-          },
-          "required": ["min_acc", "max_acc", "min_jerk", "max_jerk"]
-        }
-      },
-      "required": ["max_velocity", "normal", "limit"],
-      "additionalProperties": false
-    }
-  },
-  "properties": {
-    "/**": {
-      "type": "object",
-      "properties": {
-        "ros__parameters": {
-          "$ref": "#/definitions/external_velocity_limit_selector"
-        }
-      },
-      "required": ["ros__parameters"],
-      "additionalProperties": false
-    }
-  },
-  "required": ["/**"],
-  "additionalProperties": false
-}