feat(autoware_launch): enable use_individual_control_param (autowaref…

…oundation#148) * fix(autoware_launch): add missing param of vehicle_cmd_gate in yaml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(autoware_launch): enable use_individual_control_param Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
keiota · Dec 28, 2022 · 42a1839 · 42a1839
1 parent 272d26c
commit 42a1839
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Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -125,6 +125,7 @@
       <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
       <arg name="lateral_controller_mode" value="mpc"/>
       <arg name="longitudinal_controller_mode" value="pid"/>
+      <arg name="use_individual_control_param" value="false"/>
     </include>
   </group>
 

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -5,6 +5,10 @@
   <arg name="enable_obstacle_collision_checker"/>
   <arg name="lateral_controller_mode"/>
   <arg name="longitudinal_controller_mode"/>
+  <arg name="use_individual_control_param"/>
+
+  <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
+  <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
 
   <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
     <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
@@ -14,8 +18,14 @@
     <arg name="vehicle_id" value="$(var vehicle_id)"/>
     <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
     <arg name="trajectory_follower_node_param_path" value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/trajectory_follower_node.param.yaml"/>
-    <arg name="lat_controller_param_path" value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml"/>
-    <arg name="lon_controller_param_path" value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml"/>
+    <arg
+      name="lat_controller_param_path"
+      value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/$(var latlon_controller_param_path_dir)/lateral/$(var lateral_controller_mode).param.yaml"
+    />
+    <arg
+      name="lon_controller_param_path"
+      value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/$(var latlon_controller_param_path_dir)/longitudinal/$(var longitudinal_controller_mode).param.yaml"
+    />
     <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
     <arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>