From 2f65aa5b813cf57da5e64af0d4a46a5cf6db96a4 Mon Sep 17 00:00:00 2001
From: Fumiya Watanabe <rej55.g@gmail.com>
Date: Thu, 7 Mar 2024 16:15:11 +0900
Subject: [PATCH] chore: move csv path to config file

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
---
 lexus_launch/config/raw_vehicle_cmd_converter.param.yaml | 3 +++
 lexus_launch/launch/vehicle_interface.launch.xml         | 2 --
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/lexus_launch/config/raw_vehicle_cmd_converter.param.yaml b/lexus_launch/config/raw_vehicle_cmd_converter.param.yaml
index f6676bd..b7d20e8 100644
--- a/lexus_launch/config/raw_vehicle_cmd_converter.param.yaml
+++ b/lexus_launch/config/raw_vehicle_cmd_converter.param.yaml
@@ -1,5 +1,8 @@
 /**:
   ros__parameters:
+    csv_path_accel_map: $(var csv_accel_brake_map_path)/accel_map.csv
+    csv_path_brake_map: $(var csv_accel_brake_map_path)/brake_map.csv
+    csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv
     convert_accel_cmd: true
     convert_brake_cmd: true
     convert_steer_cmd: false
diff --git a/lexus_launch/launch/vehicle_interface.launch.xml b/lexus_launch/launch/vehicle_interface.launch.xml
index f0ce2dc..027c34e 100644
--- a/lexus_launch/launch/vehicle_interface.launch.xml
+++ b/lexus_launch/launch/vehicle_interface.launch.xml
@@ -19,8 +19,6 @@
   <!-- raw_vehicle_converter -->
   <include file="$(find-pkg-share raw_vehicle_cmd_converter)/launch/raw_vehicle_converter.launch.xml">
     <arg name="config_file" value="$(find-pkg-share lexus_launch)/config/raw_vehicle_cmd_converter.param.yaml"/>
-    <arg name="csv_path_accel_map" value="$(var csv_accel_brake_map_path)/accel_map.csv"/>
-    <arg name="csv_path_brake_map" value="$(var csv_accel_brake_map_path)/brake_map.csv"/>
   </include>
 
   <!-- accel brake map calibrator -->