diff --git a/control/trajectory_follower_nodes/param/lateral_controller_defaults.param.yaml b/control/trajectory_follower_nodes/config/lateral_controller_defaults.param.yaml similarity index 100% rename from control/trajectory_follower_nodes/param/lateral_controller_defaults.param.yaml rename to control/trajectory_follower_nodes/config/lateral_controller_defaults.param.yaml diff --git a/control/trajectory_follower_nodes/param/latlon_muxer_defaults.param.yaml b/control/trajectory_follower_nodes/config/latlon_muxer_defaults.param.yaml similarity index 100% rename from control/trajectory_follower_nodes/param/latlon_muxer_defaults.param.yaml rename to control/trajectory_follower_nodes/config/latlon_muxer_defaults.param.yaml diff --git a/control/trajectory_follower_nodes/param/longitudinal_controller_defaults.param.yaml b/control/trajectory_follower_nodes/config/longitudinal_controller_defaults.param.yaml similarity index 100% rename from control/trajectory_follower_nodes/param/longitudinal_controller_defaults.param.yaml rename to control/trajectory_follower_nodes/config/longitudinal_controller_defaults.param.yaml diff --git a/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml b/control/trajectory_follower_nodes/config/test_vehicle_info.param.yaml similarity index 100% rename from control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml rename to control/trajectory_follower_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 index e4d39916d456d..6a9874fba9524 100644 --- 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 index 3348257181ca9..7af1b17320610 100644 --- 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 index ef1198bc72012..b898d1f7b150e 100644 --- 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 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 node = std::make_shared(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 index 2130253c2d1df..579720eaf6daa 100644 --- 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 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 node = std::make_shared(node_options); diff --git a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml b/launch/tier4_control_launch/config/trajectory_follower_nodes/lateral_controller.param.yaml similarity index 100% rename from launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml rename to launch/tier4_control_launch/config/trajectory_follower_nodes/lateral_controller.param.yaml diff --git a/launch/tier4_control_launch/config/trajectory_follower/latlon_muxer.param.yaml b/launch/tier4_control_launch/config/trajectory_follower_nodes/latlon_muxer.param.yaml similarity index 100% rename from launch/tier4_control_launch/config/trajectory_follower/latlon_muxer.param.yaml rename to launch/tier4_control_launch/config/trajectory_follower_nodes/latlon_muxer.param.yaml diff --git a/launch/tier4_control_launch/config/trajectory_follower/longitudinal_controller.param.yaml b/launch/tier4_control_launch/config/trajectory_follower_nodes/longitudinal_controller.param.yaml similarity index 100% rename from launch/tier4_control_launch/config/trajectory_follower/longitudinal_controller.param.yaml rename to launch/tier4_control_launch/config/trajectory_follower_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 index 321acbedaeeee..e859fcdf4c99f 100644 --- 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", ) @@ -323,7 +323,7 @@ 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", ) @@ -331,7 +331,7 @@ def add_launch_arg(name: str, default_value=None, description=None): "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", )