feat(control_launch): organize controller param yaml (autowarefoundat…

…ion#658) * feat(control_launch): organize controller param yaml Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> * organize param files Signed-off-by: Takayuki Murooka <[email protected]> Signed-off-by: Takayuki Murooka <[email protected]>
sykwer · Dec 26, 2022 · 0302028 · 0302028
1 parent 7ae6824
commit 0302028
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Showing 6 changed files with 13 additions and 11 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -119,9 +119,12 @@
 
   <!-- Control -->
   <group if="$(var launch_control)">
-    <include file="$(find-pkg-share control_launch)/launch/control.launch.xml">
-      <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
-      <arg name="lateral_controller_mode" value="mpc_follower"/>
+    <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
+      <!-- options for lateral_controller_mode: mpc, pure_pursuit -->
+      <arg name="lateral_controller_mode" value="mpc"/>
+      <arg name="longitudinal_controller_mode" value="pid"/>
+      <arg name="lat_controller_param_path" value="$(find-pkg-share control_launch)/config/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml"/>
+      <arg name="lon_controller_param_path" value="$(find-pkg-share control_launch)/config/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml"/>
       <arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
     </include>
   </group>

diff --git a/...ajectory_follower/mpc_follower.param.yaml → ...rajectory_follower/lateral/mpc.param.yaml b/...ajectory_follower/mpc_follower.param.yaml → ...rajectory_follower/lateral/mpc.param.yaml
diff --git a/...ajectory_follower/pure_pursuit.param.yaml → ..._follower/lateral/pure_pursuit.param.yaml b/...ajectory_follower/pure_pursuit.param.yaml → ..._follower/lateral/pure_pursuit.param.yaml
diff --git a/...llower/longitudinal_controller.param.yaml → ...tory_follower/longitudinal/pid.param.yaml b/...llower/longitudinal_controller.param.yaml → ...tory_follower/longitudinal/pid.param.yaml
diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
@@ -61,8 +61,8 @@ def launch_setup(context, *args, **kwargs):
         shift_decider_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     controller_component = ComposableNode(
-        package="trajectory_follower_nodes",
-        plugin="autoware::motion::control::trajectory_follower_nodes::Controller",
+        package="trajectory_follower_node",
+        plugin="autoware::motion::control::trajectory_follower_node::Controller",
         name="controller_node_exe",
         namespace="trajectory_follower",
         remappings=[
@@ -260,8 +260,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
     # lateral controller mode
     add_launch_arg(
         "lateral_controller_mode",
-        "mpc_follower",
-        "lateral controller mode: `mpc_follower` or `pure_pursuit`",
+        "mpc",
+        "lateral controller mode: `mpc` or `pure_pursuit`",
     )
 
     # longitudinal controller mode
@@ -284,15 +284,15 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "lat_controller_param_path",
         [
             FindPackageShare("control_launch"),
-            "/config/trajectory_follower/mpc_follower.param.yaml",
+            "/config/mpc_lateral_controller/mpc_lateral_controller.param.yaml",
         ],
         "path to the parameter file of lateral controller. default is `mpc_follower`",
     )
     add_launch_arg(
         "lon_controller_param_path",
         [
             FindPackageShare("control_launch"),
-            "/config/trajectory_follower/longitudinal_controller.param.yaml",
+            "/config/pid_longitudinal_controller/pid_longitudinal_controller.param.yaml",
         ],
         "path to the parameter file of longitudinal controller",
     )

diff --git a/control_launch/package.xml b/control_launch/package.xml
@@ -14,8 +14,7 @@
   <exec_depend>external_cmd_converter</exec_depend>
   <exec_depend>lane_departure_checker</exec_depend>
   <exec_depend>shift_decider</exec_depend>
-  <exec_depend>trajectory_follower</exec_depend>
-  <exec_depend>trajectory_follower_nodes</exec_depend>
+  <exec_depend>trajectory_follower_node</exec_depend>
   <exec_depend>vehicle_cmd_gate</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>