organize config directory

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Apr 23, 2022 · 5459073 · 5459073
1 parent 4dfcf56
commit 5459073
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Showing 12 changed files with 9 additions and 9 deletions.
diff --git a/...am/lateral_controller_defaults.param.yaml → ...ig/lateral_controller_defaults.param.yaml b/...am/lateral_controller_defaults.param.yaml → ...ig/lateral_controller_defaults.param.yaml
diff --git a/...es/param/latlon_muxer_defaults.param.yaml → ...s/config/latlon_muxer_defaults.param.yaml b/...es/param/latlon_muxer_defaults.param.yaml → ...s/config/latlon_muxer_defaults.param.yaml
diff --git a/...ngitudinal_controller_defaults.param.yaml → ...ngitudinal_controller_defaults.param.yaml b/...ngitudinal_controller_defaults.param.yaml → ...ngitudinal_controller_defaults.param.yaml
diff --git a/..._nodes/param/test_vehicle_info.param.yaml → ...nodes/config/test_vehicle_info.param.yaml b/..._nodes/param/test_vehicle_info.param.yaml → ...nodes/config/test_vehicle_info.param.yaml
diff --git a/control/trajectory_follower_nodes/design/lateral_controller-design.md b/control/trajectory_follower_nodes/design/lateral_controller-design.md
@@ -48,7 +48,7 @@ Inputs
 
 ### Parameter description
 
-The default parameters defined in `param/lateral_controller_defaults.param.yaml` are adjusted to the
+The default parameters defined in `config/lateral_controller_defaults.param.yaml` are adjusted to the
 AutonomouStuff Lexus RX 450h for under 40 km/h driving.
 
 | Name                                         | Type   | Description                                                                                                                                       | Default value |

diff --git a/control/trajectory_follower_nodes/design/longitudinal_controller-design.md b/control/trajectory_follower_nodes/design/longitudinal_controller-design.md
@@ -143,7 +143,7 @@ In this controller, the predicted ego-velocity and the target velocity after the
 
 ### Parameter description
 
-The default parameters defined in `param/lateral_controller_defaults.param.yaml` are adjusted to the
+The default parameters defined in `config/lateral_controller_defaults.param.yaml` are adjusted to the
 AutonomouStuff Lexus RX 450h for under 40 km/h driving.
 
 | Name                                 | Type   | Description                                                                                                                                                                             | Default value |

diff --git a/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp b/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp
@@ -50,8 +50,8 @@ std::shared_ptr<LateralController> makeLateralNode()
   const auto share_dir = ament_index_cpp::get_package_share_directory("trajectory_follower_nodes");
   rclcpp::NodeOptions node_options;
   node_options.arguments(
-    {"--ros-args", "--params-file", share_dir + "/param/lateral_controller_defaults.param.yaml",
-     "--params-file", share_dir + "/param/test_vehicle_info.param.yaml"});
+    {"--ros-args", "--params-file", share_dir + "/config/lateral_controller_defaults.param.yaml",
+     "--params-file", share_dir + "/config/test_vehicle_info.param.yaml"});
   std::shared_ptr<LateralController> node = std::make_shared<LateralController>(node_options);
 
   // Enable all logging in the node

diff --git a/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp b/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp
@@ -47,8 +47,8 @@ std::shared_ptr<LongitudinalController> makeLongitudinalNode()
   rclcpp::NodeOptions node_options;
   node_options.arguments(
     {"--ros-args", "--params-file",
-     share_dir + "/param/longitudinal_controller_defaults.param.yaml", "--params-file",
-     share_dir + "/param/test_vehicle_info.param.yaml"});
+     share_dir + "/config/longitudinal_controller_defaults.param.yaml", "--params-file",
+     share_dir + "/config/test_vehicle_info.param.yaml"});
   std::shared_ptr<LongitudinalController> node =
     std::make_shared<LongitudinalController>(node_options);
 

diff --git a/...ry_follower/lateral_controller.param.yaml → ...lower_nodes/lateral_controller.param.yaml b/...ry_follower/lateral_controller.param.yaml → ...lower_nodes/lateral_controller.param.yaml
diff --git a/...ajectory_follower/latlon_muxer.param.yaml → ...ry_follower_nodes/latlon_muxer.param.yaml b/...ajectory_follower/latlon_muxer.param.yaml → ...ry_follower_nodes/latlon_muxer.param.yaml
diff --git a/...llower/longitudinal_controller.param.yaml → ..._nodes/longitudinal_controller.param.yaml b/...llower/longitudinal_controller.param.yaml → ..._nodes/longitudinal_controller.param.yaml
diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
@@ -307,7 +307,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "lat_controller_param_path",
         [
             FindPackageShare("tier4_control_launch"),
-            "/config/trajectory_follower/lateral_controller.param.yaml",
+            "/config/trajectory_follower_nodes/lateral_controller.param.yaml",
         ],
         "path to the parameter file of lateral controller",
     )
@@ -323,15 +323,15 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "lon_controller_param_path",
         [
             FindPackageShare("tier4_control_launch"),
-            "/config/trajectory_follower/longitudinal_controller.param.yaml",
+            "/config/trajectory_follower_nodes/longitudinal_controller.param.yaml",
         ],
         "path to the parameter file of longitudinal controller",
     )
     add_launch_arg(
         "latlon_muxer_param_path",
         [
             FindPackageShare("tier4_control_launch"),
-            "/config/trajectory_follower/latlon_muxer.param.yaml",
+            "/config/trajectory_follower_nodes/latlon_muxer.param.yaml",
         ],
         "path to the parameter file of latlon muxer",
     )