revert(tier4_map_launch): move config back to autoware.universe (#2561)

* revert(tier4_map_launch): move config back to autoware.universe Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix map.launch.xml Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp>
autowarefoundation · Dec 22, 2022 · f2fabfe · f2fabfe
1 parent a7deda6
commit f2fabfe
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Showing 4 changed files with 16 additions and 2 deletions.
diff --git a/launch/tier4_map_launch/CMakeLists.txt b/launch/tier4_map_launch/CMakeLists.txt
@@ -7,4 +7,5 @@ autoware_package()
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/launch/tier4_map_launch/config/pointcloud_map_loader.param.yaml b/launch/tier4_map_launch/config/pointcloud_map_loader.param.yaml
@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    enable_whole_load: true
+    enable_downsampled_whole_load: false
+    enable_partial_load: false
+    enable_differential_load: false
+
+    # only used when downsample_whole_load enabled
+    leaf_size: 3.0 # downsample leaf size [m]
diff --git a/launch/tier4_map_launch/launch/map.launch.py b/launch/tier4_map_launch/launch/map.launch.py
@@ -161,7 +161,11 @@ def add_launch_arg(name: str, default_value=None, description=None):
     ),
     add_launch_arg(
         "pointcloud_map_loader_param_path",
-        "",
+        [
+            FindPackageShare("tier4_map_launch"),
+            "/config/pointcloud_map_loader.param.yaml",
+            # ToDo(kminoda): This file should eventually be removed as well as the other components
+        ],
         "path to pointcloud_map_loader param file",
     ),
     add_launch_arg("use_intra_process", "false", "use ROS2 component container communication"),

diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml
@@ -1,6 +1,6 @@
 <launch>
   <!-- Parameter files -->
-  <arg name="pointcloud_map_loader_param_path"/>
+  <arg name="pointcloud_map_loader_param_path" default="$(find-pkg-share tier4_map_launch)/config/pointcloud_map_loader.param.yaml"/>
 
   <arg name="map_path" default=""/>
   <arg name="lanelet2_map_path" default="$(var map_path)/lanelet2_map.osm"/>
-Original file line number
+Diff line change
@@ Expand Up / @@ -7,4 +7,5 @@ autoware_package() @@
     ament_auto_package(
       INSTALL_TO_SHARE
       launch
+      config
     )