feat(planning_error_monitor): read params from yaml (#294)

* feat(planning_error_monitor): read params from yaml * fix(planning_error_monitor): fix the parameter to paramter in universe. * fix: add units of some parameters in yaml
tier4 · Apr 25, 2022 · d7ed10b · d7ed10b
1 parent 02e5e34
commit d7ed10b
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diff --git a/planning_launch/config/planning_diagnostics/planning_error_monitor.param.yaml b/planning_launch/config/planning_diagnostics/planning_error_monitor.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    # trajectory check
+    error_interval: 100.0 # error interval distance threshold [m]
+    error_curvature: 2.0 # error curvature threshold [rad/m]
+    error_sharp_angle: 0.785398 # error sharp angle threshold [rad]
+    ignore_too_close_points: 0.01 # ignore too close distance threshold [m]
diff --git a/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml b/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml
@@ -3,6 +3,8 @@
   <!-- planning_error_monitor -->
   <group>
     <include file="$(find-pkg-share planning_error_monitor)/launch/planning_error_monitor.launch.xml">
+      <!-- load config a file -->
+      <arg name="planning_error_monitor_param_path" value="$(find-pkg-share planning_launch)/config/planning_diagnostics/planning_error_monitor.param.yaml" />
     </include>
   </group>
 </launch>