forked from autowarefoundation/autoware.universe
-
Notifications
You must be signed in to change notification settings - Fork 34
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
feat: add launch and config to leader_election_conveter for one host …
…test Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
- Loading branch information
Showing
2 changed files
with
32 additions
and
0 deletions.
There are no files selected for viewing
12 changes: 12 additions & 0 deletions
12
...m/leader_election_converter/config/leader_election_converter.one_host_test.sub.param.yaml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| /**: | ||
| ros__parameters: | ||
| availability_dest_ip: "127.0.0.1" | ||
| availability_dest_port: "9010" | ||
| mrm_state_dest_ip: "127.0.0.1" | ||
| mrm_state_dest_port: "9011" | ||
| mrm_request_src_ip: "127.0.0.1" | ||
| mrm_request_src_port: "9012" | ||
| election_communication_src_ip: "127.0.0.1" | ||
| election_communication_src_port: "9013" | ||
| election_status_src_ip: "127.0.0.1" | ||
| election_status_src_port: "9014" |
20 changes: 20 additions & 0 deletions
20
...m/leader_election_converter/launch/leader_election_converter.one_host_test.sub.launch.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <launch> | ||
| <arg name="param_file" default="$(find-pkg-share leader_election_converter)/config/leader_election_converter.one_host_test.sub.param.yaml"/> | ||
| <arg name="input_control_mode" default="/vehicle/status/control_mode"/> | ||
| <arg name="input_operation_mode_availability" default="/system/operation_mode/availability"/> | ||
| <arg name="input_mrm_state" default="/system/fail_safe/mrm_state"/> | ||
| <arg name="output_mrm_request" default="/system/mrm_request"/> | ||
| <arg name="output_over_all_mrm_state" default="/system/fail_safe/over_all/mrm_state"/> | ||
| <arg name="output_election_communication" default="/system/election/communication"/> | ||
| <arg name="output_election_status" default="/system/election/status"/> | ||
| <node pkg="leader_election_converter" exec="leader_election_converter_node"> | ||
| <param from="$(var param_file)"/> | ||
| <remap from="~/input/control_mode" to="$(var input_control_mode)"/> | ||
| <remap from="~/input/operation_mode_availability" to="$(var input_operation_mode_availability)"/> | ||
| <remap from="~/input/mrm_state" to="$(var input_mrm_state)"/> | ||
| <remap from="~/output/mrm_request" to="$(var output_mrm_request)"/> | ||
| <remap from="~/output/over_all_mrm_state" to="$(var output_over_all_mrm_state)"/> | ||
| <remap from="~/output/election_communication" to="$(var output_election_communication)"/> | ||
| <remap from="~/output/election_status" to="$(var output_election_status)"/> | ||
| </node> | ||
| </launch> |