feat: add control launch xml #2832
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Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
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kenji-miyake
reviewed
Feb 7, 2023
This was referenced Feb 7, 2023
kenji-miyake
reviewed
Feb 7, 2023
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| <!-- external cmd selector --> | ||
| <composable_node pkg="external_cmd_selector" plugin="ExternalCmdSelector" name="external_cmd_selector"> | ||
| <remap from="~/service/select_external_command" to="~/select_external_command"/> | ||
| <remap from="~/input/local/control_cmd" to="/api/external/set/command/local/control"/> | ||
| <remap from="~/input/local/shift_cmd" to="/api/external/set/command/local/shift"/> | ||
| <remap from="~/input/local/turn_signal_cmd" to="/api/external/set/command/local/turn_signal"/> | ||
| <remap from="~/input/local/heartbeat" to="/api/external/set/command/local/heartbeat"/> | ||
| <remap from="~/input/remote/control_cmd" to="/api/external/set/command/remote/control"/> | ||
| <remap from="~/input/remote/shift_cmd" to="/api/external/set/command/remote/shift"/> | ||
| <remap from="~/input/remote/turn_signal_cmd" to="/api/external/set/command/remote/turn_signal"/> | ||
| <remap from="~/input/remote/heartbeat" to="/api/external/set/command/remote/heartbeat"/> | ||
| <remap from="~/output/control_cmd" to="/external/selected/external_control_cmd"/> | ||
| <remap from="~/output/gear_cmd" to="/external/selected/gear_cmd"/> | ||
| <remap from="~/output/turn_indicators_cmd" to="/external/selected/turn_indicators_cmd"/> | ||
| <remap from="~/output/hazard_lights_cmd" to="/external/selected/hazard_lights_cmd"/> | ||
| <remap from="~/output/heartbeat" to="/external/selected/heartbeat"/> | ||
| <remap from="~/output/current_selector_mode" to="~/current_selector_mode"/> | ||
| <param from="$(var external_cmd_selector_param_path)"/> | ||
| <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/> | ||
| </composable_node> | ||
|
|
||
| <!-- external cmd converter --> | ||
| <composable_node pkg="external_cmd_converter" plugin="external_cmd_converter::ExternalCmdConverterNode" name="external_cmd_converter"> | ||
| <param from="in/external_control_cmd" to="/external/selected/external_control_cmd"/> | ||
| <param from="in/shift_cmd" to="/external/selected/gear_cmd"/> | ||
| <param from="in/emergency_stop" to="/external/selected/heartbeat"/> | ||
| <param from="in/current_gate_mode" to="/control/current_gate_mode"/> | ||
| <param from="in/odometry" to="/localization/kinematic_state"/> | ||
| <param from="out/control_cmd" to="/external/selected/control_cmd"/> | ||
| <param from="out/latest_external_control_cmd" to="/api/external/get/command/selected/control"/> | ||
| <param name="csv_path_accel_map" value="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"/> | ||
| <param name="csv_path_brake_map" value="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"/> | ||
| <param name="ref_vel_gain" value="3.0"/> | ||
| <param name="wait_for_first_topic" value="true"/> | ||
| <param name="control_command_timeout" value="1.0"/> | ||
| <param name="emergency_stop_timeout" value="3.0"/> | ||
| <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/> | ||
| </composable_node> | ||
| </node_container> |
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[Question] Why did you change here from IncludeLaunchDescription?
autoware.universe/launch/tier4_control_launch/launch/control.launch.py
Lines 199 to 223 in 0324e05
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Because it's more straightforward to write all the contents in xml, I think. There is only one load_composable_nodes in external_cmd_converter/selector python launch file.
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I think it's okay to replace it here. (It would be ideal to do it in another PR, though.)
Then, don't you need to remove the old .py files of external_cmd_converter/selector?
kenji-miyake
reviewed
Feb 7, 2023
kenji-miyake
reviewed
Feb 7, 2023
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This pull request has been automatically marked as stale because it has not had recent activity. |
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Description
add control xml launch to simplify launch.
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