From d7b5273c2aff7feeaab5a3ce261a97bb1184e314 Mon Sep 17 00:00:00 2001
From: Makoto Kurihara <mkuri8m@gmail.com>
Date: Fri, 25 Nov 2022 23:03:44 +0900
Subject: [PATCH] feat(system_launch): add mrm operator's configs to
 system_launch (#574)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
---
 .../mrm_comfortable_stop_operator.param.yaml              | 6 ++++++
 .../mrm_emergency_stop_operator.param.yaml                | 5 +++++
 system_launch/launch/system.launch.xml                    | 8 ++++++--
 3 files changed, 17 insertions(+), 2 deletions(-)
 create mode 100644 system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml
 create mode 100644 system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml

diff --git a/system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml b/system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml
new file mode 100644
index 0000000000..81bc9b9c0b
--- /dev/null
+++ b/system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    update_rate: 10
+    min_acceleration: -1.0
+    max_jerk: 0.3
+    min_jerk: -0.3
diff --git a/system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
new file mode 100644
index 0000000000..1ee2699a23
--- /dev/null
+++ b/system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    update_rate: 30
+    target_acceleration: -2.5
+    target_jerk: -1.5
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
index 28ad1a28e0..0696bbfaa2 100644
--- a/system_launch/launch/system.launch.xml
+++ b/system_launch/launch/system.launch.xml
@@ -60,11 +60,15 @@
 
     <!-- MRM Operator -->
     <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
       <include file="$(find-pkg-share mrm_comfortable_stop_operator)/launch/mrm_comfortable_stop_operator.launch.py">
-        <arg name="config_file" value="$(find-pkg-share mrm_comfortable_stop_operator)/config/mrm_comfortable_stop_operator.param.yaml"/>
+        <arg name="config_file" value="$(var config_file)" />
       </include>
+    </group>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
       <include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
-        <arg name="config_file" value="$(find-pkg-share mrm_emergency_stop_operator)/config/mrm_emergency_stop_operator.param.yaml"/>
+        <arg name="config_file" value="$(var config_file)" />
       </include>
     </group>