feat(localization_error_monitor): add a config file (#1282)

* feat(localization_error_monitor): add a config file Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * feat(localization_error_monitor): add a config file in tier4_localization_launch too Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * debugged Signed-off-by: kminoda <koji.m.minoda@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Jul 8, 2022 · ad96297 · ad96297
1 parent 83ea253
commit ad96297
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Showing 4 changed files with 17 additions and 15 deletions.
diff --git a/launch/tier4_localization_launch/config/localization_error_monitor.param.yaml b/launch/tier4_localization_launch/config/localization_error_monitor.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    scale: 3.0
+    error_ellipse_size: 1.0
+    warn_ellipse_size: 0.8
+    error_ellipse_size_lateral_direction: 0.3
+    warn_ellipse_size_lateral_direction: 0.2
diff --git a/...calization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/...calization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
@@ -2,10 +2,6 @@
 <launch>
   <include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
     <arg name="input/pose_with_cov" value="/localization/pose_with_covariance"/>
-    <arg name="scale" value="3.0"/>
-    <arg name="error_ellipse_size" value="1.0"/>
-    <arg name="warn_ellipse_size" value="0.8"/>
-    <arg name="error_ellipse_size_lateral_direction" value="1.0"/>
-    <arg name="warn_ellipse_size_lateral_direction" value="0.8"/>
+    <arg name="param_file" value="$(find-pkg-share tier4_localization_launch)/config/localization_error_monitor.param.yaml"/>
   </include>
 </launch>
diff --git a/localization/localization_error_monitor/config/localization_error_monitor.param.yaml b/localization/localization_error_monitor/config/localization_error_monitor.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    scale: 3.0
+    error_ellipse_size: 1.0
+    warn_ellipse_size: 0.8
+    error_ellipse_size_lateral_direction: 0.3
+    warn_ellipse_size_lateral_direction: 0.2
diff --git a/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml b/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml
@@ -1,17 +1,9 @@
 <launch>
   <arg name="input/pose_with_cov" default="/localization/pose_with_covariance"/>
-  <arg name="scale" default="3.0"/>
-  <arg name="error_ellipse_size" default="1.0"/>
-  <arg name="warn_ellipse_size" default="0.8"/>
-  <arg name="error_ellipse_size_lateral_direction" default="0.3"/>
-  <arg name="warn_ellipse_size_lateral_direction" default="0.2"/>
+  <arg name="param_file" default="$(find-pkg-share localization_error_monitor)/config/localization_error_monitor.param.yaml"/>
 
   <node name="localization_error_monitor" exec="localization_error_monitor" pkg="localization_error_monitor" output="screen">
     <remap from="input/pose_with_cov" to="$(var input/pose_with_cov)"/>
-    <param name="scale" value="$(var scale)"/>
-    <param name="error_ellipse_size" value="$(var error_ellipse_size)"/>
-    <param name="warn_ellipse_size" value="$(var warn_ellipse_size)"/>
-    <param name="error_ellipse_size_lateral_direction" value="$(var error_ellipse_size_lateral_direction)"/>
-    <param name="warn_ellipse_size_lateral_direction" value="$(var warn_ellipse_size_lateral_direction)"/>
+    <param from="$(var param_file)"/>
   </node>
 </launch>