feat(shift_decider): add config file (autowarefoundation#1857)

* feat(shift_decider): add config file

Signed-off-by: lilyildiz <y.yzk61@gmail.com>

* feat(tier4_control_launch): add shift_decider.param.yaml

Signed-off-by: lilyildiz <y.yzk61@gmail.com>

* ci(pre-commit): autofix

Signed-off-by: lilyildiz <y.yzk61@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

control/shift_decider/CMakeLists.txt

@@ -16,4 +16,5 @@ rclcpp_components_register_node(shift_decider_node
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )

control/shift_decider/config/shift_decider.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    park_on_goal: true

control/shift_decider/launch/shift_decider.launch.xml

@@ -1,8 +1,10 @@
 <launch>
+  <arg name="config_file" default="$(find-pkg-share shift_decider)/config/shift_decider.param.yaml"/>
+
   <node pkg="shift_decider" exec="shift_decider" name="shift_decider" output="screen">
     <remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/>
     <remap from="input/state" to="/autoware/state"/>
     <remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd"/>
-    <param name="park_on_goal" value="true"/>
+    <param from="$(var config_file)"/>
   </node>
 </launch>

launch/tier4_control_launch/config/shift_decider/shift_decider.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    park_on_goal: true

launch/tier4_control_launch/launch/control.launch.py

@@ -82,6 +82,14 @@ 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 = os.path.join(
+        LaunchConfiguration("tier4_control_launch_param_path").perform(context),
+        "shift_decider",
+        "shift_decider.param.yaml",
+    )
+    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",
@@ -141,9 +149,7 @@ 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")}],
     )