refactor(mission_planner): delete default values (#3127)

* delete param Signed-off-by: yamazakiTasuku <tasuku.yamazaki@tier4.jp> * fix(mission_planner): add type Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(static_centerline_optimizer): add mission planner param path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> --------- Signed-off-by: yamazakiTasuku <tasuku.yamazaki@tier4.jp> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: yamazakiTasuku <tasuku.yamazaki@tier4.jp> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
autowarefoundation · Apr 11, 2023 · e2e9131 · e2e9131
1 parent b5ceaae
commit e2e9131
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
@@ -145,8 +145,8 @@ void DefaultPlanner::initialize_common(rclcpp::Node * node)
     node_->create_publisher<MarkerArray>("debug/goal_footprint", durable_qos);
 
   vehicle_info_ = vehicle_info_util::VehicleInfoUtil(*node_).getVehicleInfo();
-  param_.goal_angle_threshold_deg = node_->declare_parameter("goal_angle_threshold_deg", 45.0);
-  param_.enable_correct_goal_pose = node_->declare_parameter("enable_correct_goal_pose", false);
+  param_.goal_angle_threshold_deg = node_->declare_parameter<double>("goal_angle_threshold_deg");
+  param_.enable_correct_goal_pose = node_->declare_parameter<bool>("enable_correct_goal_pose");
 }
 
 void DefaultPlanner::initialize(rclcpp::Node * node)

diff --git a/planning/static_centerline_optimizer/test/test_static_centerline_optimizer.test.py b/planning/static_centerline_optimizer/test/test_static_centerline_optimizer.test.py
@@ -43,6 +43,11 @@ def generate_test_description():
             {"lanelet2_output_file_path": "/tmp/lanelet2_map.osm"},
             {"start_lanelet_id": 215},
             {"end_lanelet_id": 216},
+            os.path.join(
+                get_package_share_directory("mission_planner"),
+                "config",
+                "mission_planner.param.yaml",
+            ),
             os.path.join(
                 get_package_share_directory("static_centerline_optimizer"),
                 "config/static_centerline_optimizer.param.yaml",