From a15a37a67cc1a6ec05b372d2fedad4d671d3e24d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 7 Mar 2024 12:25:19 +0300 Subject: [PATCH] fix(raw_vehicle_cmd_converter): csv paths are resolved in param.yaml (#6476) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../raw_vehicle_cmd_converter.param.yaml | 3 +++ .../launch/raw_vehicle_converter.launch.xml | 7 ------- .../raw_vehicle_cmd_converter.schema.json | 18 ++++++++++++++++++ 3 files changed, 21 insertions(+), 7 deletions(-) diff --git a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml index 1001696d96679..bce50a0b581c7 100644 --- a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml +++ b/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml @@ -1,5 +1,8 @@ /**: ros__parameters: + csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv + csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv + csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv convert_accel_cmd: true convert_brake_cmd: true convert_steer_cmd: true diff --git a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml b/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml index a74cdcc56132d..0a9962a7c2a30 100644 --- a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml +++ b/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml @@ -1,9 +1,5 @@ - - - - @@ -13,9 +9,6 @@ - - - diff --git a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json index cc292c5a8c40f..4b562f401e09b 100644 --- a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json +++ b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json @@ -6,6 +6,21 @@ "raw_vehicle_cmd_converter": { "type": "object", "properties": { + "csv_path_accel_map": { + "type": "string", + "description": "path for acceleration map csv file", + "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv" + }, + "csv_path_brake_map": { + "type": "string", + "description": "path for brake map csv file", + "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv" + }, + "csv_path_steer_map": { + "type": "string", + "description": "path for steer map csv file", + "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv" + }, "convert_accel_cmd": { "type": "boolean", "description": "use accel or not", @@ -142,6 +157,9 @@ } }, "required": [ + "csv_path_accel_map", + "csv_path_brake_map", + "csv_path_steer_map", "convert_accel_cmd", "convert_brake_cmd", "convert_steer_cmd",