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fix(raw_vehicle_cmd_converter): fix parameter files to parse path to csv files (#6136) #1139

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merged 1 commit into from
Feb 13, 2024
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fix(raw_vehicle_cmd_converter): fix parameter files to parse path to csv files (#6136) #1139

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2 changes: 2 additions & 0 deletions launch/tier4_vehicle_launch/launch/vehicle.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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)"/>

Expand All @@ -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="$(var initial_engage_state)"/>
</include>
</group>
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3 changes: 0 additions & 3 deletions vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,8 +1,5 @@
/**:
ros__parameters:
csv_path_accel_map: "$(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
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7 changes: 7 additions & 0 deletions vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
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Original file line number Diff line number Diff line change
@@ -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"/>
Expand All @@ -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="$(var input_steering)"/>
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15 changes: 0 additions & 15 deletions vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
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Original file line number Diff line number Diff line change
Expand Up @@ -6,21 +6,6 @@
"raw_vehicle_cmd_converter": {
"type": "object",
"properties": {
"csv_path_accel_map": {
"type": "string",
"description": "path for acceleration map csv file",
"default": "$(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",
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