feat(shift_decider): add shift decider config (#484)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
autowarefoundation · Sep 14, 2022 · de49ece · de49ece
1 parent 5b3d44f
commit de49ece
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Showing 3 changed files with 18 additions and 3 deletions.
diff --git a/control_launch/config/shift_decider/shift_decider.param.yaml b/control_launch/config/shift_decider/shift_decider.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    park_on_goal: true
diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
@@ -56,6 +56,10 @@ def launch_setup(context, *args, **kwargs):
     with open(operation_mode_transition_manager_param_path, "r") as f:
         operation_mode_transition_manager_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
+    shift_decider_param_path = LaunchConfiguration("shift_decider_param_path").perform(context)
+    with open(shift_decider_param_path, "r") as f:
+        shift_decider_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+
     controller_component = ComposableNode(
         package="trajectory_follower_nodes",
         plugin="autoware::motion::control::trajectory_follower_nodes::Controller",
@@ -114,9 +118,7 @@ def launch_setup(context, *args, **kwargs):
             ("output/gear_cmd", "/control/shift_decider/gear_cmd"),
         ],
         parameters=[
-            {
-                "park_on_goal": True,
-            }
+            shift_decider_param,
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
@@ -304,6 +306,14 @@ def add_launch_arg(name: str, default_value=None, description=None):
         ],
         "path to the parameter file of vehicle_cmd_gate",
     )
+    add_launch_arg(
+        "shift_decider_param_path",
+        [
+            FindPackageShare("control_launch"),
+            "/config/shift_decider/shift_decider_param.param.yaml",
+        ],
+        "path to the parameter file of shift_decider",
+    )
 
     # vehicle cmd gate
     add_launch_arg("use_emergency_handling", "false", "use emergency handling")

diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml
@@ -6,6 +6,7 @@
   <arg name="latlon_muxer_param_path" default="$(find-pkg-share control_launch)/config/trajectory_follower/latlon_muxer.param.yaml"/>
   <arg name="vehicle_cmd_gate_param_path" default="$(find-pkg-share control_launch)/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml"/>
   <arg name="operation_mode_transition_manager_param_path" default="$(find-pkg-share control_launch)/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
+  <arg name="shift_decider_param_path" default="$(find-pkg-share control_launch)/config/shift_decider/shift_decider.param.yaml"/>
 
   <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
     <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)" />
@@ -14,6 +15,7 @@
     <arg name="latlon_muxer_param_path" value="$(var latlon_muxer_param_path)"/>
     <arg name="vehicle_cmd_gate_param_path" value="$(var vehicle_cmd_gate_param_path)"/>
     <arg name="operation_mode_transition_manager_param_path" value="$(var operation_mode_transition_manager_param_path)"/>
+    <arg name="shift_decider_param_path" value="$(var shift_decider_param_path)"/>
   </include>
 
 </launch>