Make launch files load vehicle model params dependent on argument (au…

…towarefoundation#228) * Make vehicle_model configurable in behavior_velocity_planner * Make vehicle_model configurable in vehicle_cmd_gate Signed-off-by: tanaka3 <[email protected]>
taikitanaka3 · Jan 11, 2022 · b979393 · b979393
1 parent dea9946
commit b979393
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml b/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
@@ -15,7 +15,8 @@
   <arg name="max_accel" default="-2.8" />
   <arg name="delay_response_time" default="1.3" />
 
-  <arg name="vehicle_param_file" default="$(find-pkg-share lexus_description)/config/vehicle_info.yaml"/>
+  <arg name="vehicle_model" />
+  <let name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.yaml"/>
 
   <node pkg="behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" output="screen">
     <param from="$(find-pkg-share behavior_velocity_planner)/config/blind_spot_param.yaml" />