From f2263e1c00212a01fe8608de022904bbda8ca2d7 Mon Sep 17 00:00:00 2001
From: Ryoma Sakata <66205605+SKT-r@users.noreply.github.com>
Date: Thu, 28 Sep 2023 10:03:14 +0900
Subject: [PATCH] refactor(gnss_poser): rework parameters (#5140)

* refactor(gnss_poser): rework parameters

Signed-off-by: SKT-r <ryoma.sakata@tier4.jp>

* remove unnecessary declaration from launch

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

---------

Signed-off-by: SKT-r <ryoma.sakata@tier4.jp>
Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: SKT-r <ryoma.sakata@tier4.jp>
Co-authored-by: kminoda <koji.minoda@tier4.jp>
---
 sensing/gnss_poser/CMakeLists.txt             |  1 +
 .../gnss_poser/config/gnss_poser.param.yaml   |  9 +++++++++
 .../gnss_poser/launch/gnss_poser.launch.xml   | 20 +++----------------
 sensing/gnss_poser/src/gnss_poser_core.cpp    | 14 ++++++-------
 4 files changed, 20 insertions(+), 24 deletions(-)
 create mode 100644 sensing/gnss_poser/config/gnss_poser.param.yaml

diff --git a/sensing/gnss_poser/CMakeLists.txt b/sensing/gnss_poser/CMakeLists.txt
index 167f2c51337ce..775cde514945f 100644
--- a/sensing/gnss_poser/CMakeLists.txt
+++ b/sensing/gnss_poser/CMakeLists.txt
@@ -34,5 +34,6 @@ rclcpp_components_register_node(gnss_poser_node
 )
 
 ament_auto_package(INSTALL_TO_SHARE
+  config
   launch
 )
diff --git a/sensing/gnss_poser/config/gnss_poser.param.yaml b/sensing/gnss_poser/config/gnss_poser.param.yaml
new file mode 100644
index 0000000000000..30be98bba8cf1
--- /dev/null
+++ b/sensing/gnss_poser/config/gnss_poser.param.yaml
@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    base_frame: base_link
+    gnss_base_frame: gnss_base_link
+    gnss_frame: gnss
+    map_frame: map
+    buff_epoch: 1
+    use_gnss_ins_orientation: true
+    gnss_pose_pub_method: 0
diff --git a/sensing/gnss_poser/launch/gnss_poser.launch.xml b/sensing/gnss_poser/launch/gnss_poser.launch.xml
index 60e952c6845f4..d9b850e6995ae 100755
--- a/sensing/gnss_poser/launch/gnss_poser.launch.xml
+++ b/sensing/gnss_poser/launch/gnss_poser.launch.xml
@@ -1,5 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+  <arg name="param_file" default="$(find-pkg-share gnss_poser)/config/gnss_poser.param.yaml"/>
+
   <arg name="input_topic_fix" default="/fix"/>
   <arg name="input_topic_orientation" default="/autoware_orientation"/>
 
@@ -7,15 +9,6 @@
   <arg name="output_topic_gnss_pose_cov" default="gnss_pose_cov"/>
   <arg name="output_topic_gnss_fixed" default="gnss_fixed"/>
 
-  <arg name="base_frame" default="base_link"/>
-  <arg name="gnss_base_frame" default="gnss_base_link"/>
-  <arg name="gnss_frame" default="gnss"/>
-  <arg name="map_frame" default="map"/>
-
-  <arg name="buff_epoch" default="1"/>
-  <arg name="use_gnss_ins_orientation" default="true"/>
-  <arg name="gnss_pose_pub_method" default="0" description="0: Instant Value 1: Average Value 2: Median Value"/>
-
   <node pkg="gnss_poser" exec="gnss_poser" name="gnss_poser" output="screen">
     <remap from="fix" to="$(var input_topic_fix)"/>
     <remap from="autoware_orientation" to="$(var input_topic_orientation)"/>
@@ -23,13 +16,6 @@
     <remap from="gnss_pose_cov" to="$(var output_topic_gnss_pose_cov)"/>
     <remap from="gnss_fixed" to="$(var output_topic_gnss_fixed)"/>
 
-    <param name="base_frame" value="$(var base_frame)"/>
-    <param name="gnss_base_frame" value="$(var gnss_base_frame)"/>
-    <param name="gnss_frame" value="$(var gnss_frame)"/>
-    <param name="map_frame" value="$(var map_frame)"/>
-
-    <param name="buff_epoch" value="$(var buff_epoch)"/>
-    <param name="use_gnss_ins_orientation" value="$(var use_gnss_ins_orientation)"/>
-    <param name="gnss_pose_pub_method" value="$(var gnss_pose_pub_method)"/>
+    <param from="$(var param_file)"/>
   </node>
 </launch>
diff --git a/sensing/gnss_poser/src/gnss_poser_core.cpp b/sensing/gnss_poser/src/gnss_poser_core.cpp
index 1ae8bce2ed7f2..599a017bffed7 100644
--- a/sensing/gnss_poser/src/gnss_poser_core.cpp
+++ b/sensing/gnss_poser/src/gnss_poser_core.cpp
@@ -30,14 +30,14 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
 : rclcpp::Node("gnss_poser", node_options),
   tf2_listener_(tf2_buffer_),
   tf2_broadcaster_(*this),
-  base_frame_(declare_parameter("base_frame", "base_link")),
-  gnss_frame_(declare_parameter("gnss_frame", "gnss")),
-  gnss_base_frame_(declare_parameter("gnss_base_frame", "gnss_base_link")),
-  map_frame_(declare_parameter("map_frame", "map")),
-  use_gnss_ins_orientation_(declare_parameter("use_gnss_ins_orientation", true)),
+  base_frame_(declare_parameter<std::string>("base_frame")),
+  gnss_frame_(declare_parameter<std::string>("gnss_frame")),
+  gnss_base_frame_(declare_parameter<std::string>("gnss_base_frame")),
+  map_frame_(declare_parameter<std::string>("map_frame")),
+  use_gnss_ins_orientation_(declare_parameter<bool>("use_gnss_ins_orientation")),
   msg_gnss_ins_orientation_stamped_(
     std::make_shared<autoware_sensing_msgs::msg::GnssInsOrientationStamped>()),
-  gnss_pose_pub_method(declare_parameter<int>("gnss_pose_pub_method", 0))
+  gnss_pose_pub_method(declare_parameter<int>("gnss_pose_pub_method"))
 {
   // Subscribe to map_projector_info topic
   const auto adaptor = component_interface_utils::NodeAdaptor(this);
@@ -45,7 +45,7 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
     sub_map_projector_info_,
     [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { callbackMapProjectorInfo(msg); });
 
-  int buff_epoch = declare_parameter("buff_epoch", 1);
+  int buff_epoch = declare_parameter<int>("buff_epoch");
   position_buffer_.set_capacity(buff_epoch);
 
   nav_sat_fix_sub_ = create_subscription<sensor_msgs::msg::NavSatFix>(