feat: lateral controller param (autowarefoundation#191)

* feat: define lat_controller_param_path * feat: change for trajectory_follower params * add args for lat_controller_param_path
TakaHoribe · Feb 8, 2022 · 3114c8a · 3114c8a
1 parent e5625b6
commit 3114c8a
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Showing 7 changed files with 14 additions and 72 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -71,6 +71,7 @@
   <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
     <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
     <arg name="lateral_controller_mode" value="mpc_follower" />
+    <arg name="lat_controller_param_path" value="$(find-pkg-share control_launch)/config/trajectory_follower/$(var lateral_controller_mode).param.yaml"/>>
   </include>
 
   <!-- Autoware API -->

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -103,6 +103,7 @@
     <include file="$(find-pkg-share control_launch)/launch/control.launch.py" if="$(var control)">
       <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
       <arg name="lateral_controller_mode" value="mpc_follower" />
+      <arg name="lat_controller_param_path" value="$(find-pkg-share control_launch)/config/trajectory_follower/$(var lateral_controller_mode).param.yaml"/>>
     </include>
   </group>
 

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -50,6 +50,7 @@
   <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
     <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
     <arg name="lateral_controller_mode" value="mpc_follower" />
+    <arg name="lat_controller_param_path" value="$(find-pkg-share control_launch)/config/trajectory_follower/$(var lateral_controller_mode).param.yaml"/>>
   </include>
 
   <!-- Autoware API -->

diff --git a/control_launch/config/mpc_follower/mpc_follower.param.yaml b/control_launch/config/mpc_follower/mpc_follower.param.yaml
diff --git a/...ry_follower/lateral_controller.param.yaml → ...ajectory_follower/mpc_follower.param.yaml b/...ry_follower/lateral_controller.param.yaml → ...ajectory_follower/mpc_follower.param.yaml
diff --git a/...nfig/pure_pursuit/pure_pursuit.param.yaml → ...ajectory_follower/pure_pursuit.param.yaml b/...nfig/pure_pursuit/pure_pursuit.param.yaml → ...ajectory_follower/pure_pursuit.param.yaml
diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
@@ -32,21 +32,9 @@
 
 
 def launch_setup(context, *args, **kwargs):
-    lateral_controller_mode = LaunchConfiguration("lateral_controller_mode").perform(context)
-    if lateral_controller_mode == "mpc_follower":
-        lat_controller_param_path = (
-            FindPackageShare("control_launch").perform(context)
-            + "/config/trajectory_follower/lateral_controller.param.yaml"
-        )
-        with open(lat_controller_param_path, "r") as f:
-            lat_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    elif lateral_controller_mode == "pure_pursuit":
-        lat_controller_param_path = (
-            FindPackageShare("control_launch").perform(context)
-            + "/config/pure_pursuit/pure_pursuit.param.yaml"
-        )
-        with open(lat_controller_param_path, "r") as f:
-            lat_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+    lat_controller_param_path = LaunchConfiguration("lat_controller_param_path").perform(context)
+    with open(lat_controller_param_path, "r") as f:
+        lat_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     lon_controller_param_path = LaunchConfiguration("lon_controller_param_path").perform(context)
     with open(lon_controller_param_path, "r") as f:
         lon_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
@@ -316,6 +304,14 @@ def add_launch_arg(name: str, default_value=None, description=None):
     )
 
     # parameter file path
+    add_launch_arg(
+        "lat_controller_param_path",
+        [
+            FindPackageShare("control_launch"),
+            "/config/trajectory_follower/mpc_follower.param.yaml",
+        ],
+        "path to the parameter file of lateral controller. default is `mpc_follower`",
+    )
     add_launch_arg(
         "lon_controller_param_path",
         [