From 02af375a25a99ee85e93fb0e3704d9f81dc0424e Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Fri, 13 May 2022 15:47:35 +0900
Subject: [PATCH] fix: longitudinal controller param (#238)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 .../trajectory_follower/1/longitudinal_controller.param.yaml    | 2 +-
 .../trajectory_follower/10/longitudinal_controller.param.yaml   | 2 +-
 .../trajectory_follower/2/longitudinal_controller.param.yaml    | 2 +-
 .../trajectory_follower/3/longitudinal_controller.param.yaml    | 2 +-
 .../trajectory_follower/4/longitudinal_controller.param.yaml    | 2 +-
 .../trajectory_follower/5/longitudinal_controller.param.yaml    | 2 +-
 .../trajectory_follower/6/longitudinal_controller.param.yaml    | 2 +-
 .../trajectory_follower/7/longitudinal_controller.param.yaml    | 2 +-
 .../default/longitudinal_controller.param.yaml                  | 2 +-
 9 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml
index 1bc801567a..fe697a1e58 100644
--- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml
+++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    control_rate: 30.0
+    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true
diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml
index bf683b3f19..fac22866c5 100644
--- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml
+++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    control_rate: 30.0
+    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true
diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml
index bf683b3f19..fac22866c5 100644
--- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml
+++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    control_rate: 30.0
+    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true
diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml
index ba221e65d3..741d301cbf 100644
--- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml
+++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    control_rate: 30.0
+    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true
diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml
index d96541f335..4254fdbbdc 100644
--- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml
+++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    control_rate: 30.0
+    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true
diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml
index bf683b3f19..fac22866c5 100644
--- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml
+++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    control_rate: 30.0
+    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true
diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml
index 1bc801567a..fe697a1e58 100644
--- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml
+++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    control_rate: 30.0
+    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true
diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml
index bf683b3f19..fac22866c5 100644
--- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml
+++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    control_rate: 30.0
+    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true
diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml
index bf683b3f19..fac22866c5 100644
--- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml
+++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    control_rate: 30.0
+    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true