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feat(motion_velocity_smoother.launch): add glog component #4746

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merged 2 commits into from
Aug 25, 2023
Merged

feat(motion_velocity_smoother.launch): add glog component #4746

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5b5026e
use node instead of include
TakaHoribe Aug 25, 2023
8f0a6c5
use container & add glog component
TakaHoribe Aug 25, 2023
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28 changes: 19 additions & 9 deletions launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,15 +24,25 @@
</group>
<!-- motion velocity smoother -->
<group>
<set_remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory"/>
<set_remap from="~/output/trajectory" to="/planning/scenario_planning/motion_velocity_smoother/trajectory"/>
<include file="$(find-pkg-share motion_velocity_smoother)/launch/motion_velocity_smoother.launch.xml">
<arg name="velocity_smoother_type" value="$(var velocity_smoother_type)"/>
<arg name="common_param_path" value="$(var common_param_path)"/>
<arg name="nearest_search_param_path" value="$(var nearest_search_param_path)"/>
<arg name="param_path" value="$(var motion_velocity_smoother_param_path)"/>
<arg name="velocity_smoother_param_path" value="$(var velocity_smoother_type_param_path)"/>
</include>
<node_container pkg="rclcpp_components" exec="component_container" name="motion_velocity_smoother_container" namespace="">
<composable_node pkg="motion_velocity_smoother" plugin="motion_velocity_smoother::MotionVelocitySmootherNode" name="motion_velocity_smoother" namespace="">
<param name="algorithm_type" value="$(var velocity_smoother_type)"/>
<param from="$(var common_param_path)"/>
<param from="$(var nearest_search_param_path)"/>
<param from="$(var motion_velocity_smoother_param_path)"/>
<param from="$(var velocity_smoother_type_param_path)"/>

<param name="publish_debug_trajs" value="false"/>
<remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory"/>
<remap from="~/output/trajectory" to="/planning/scenario_planning/motion_velocity_smoother/trajectory"/>

<remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity"/>
<remap from="~/input/acceleration" to="/localization/acceleration"/>
<remap from="~/input/operation_mode_state" to="/system/operation_mode/state"/>
<remap from="~/output/current_velocity_limit_mps" to="/planning/scenario_planning/current_max_velocity"/>
</composable_node>
<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
</node_container>
</group>
</group>

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