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docs/contributing/coding-guidelines/ros-nodes/parameters.md
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# Parameters | ||
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!!! warning | ||
The ROS packages in Autoware have ROS parameters. You need to customize the parameters depending on your applications. | ||
It is recommended not to set default values when declaring ROS parameters to avoid unintended behaviors due to accidental use of default values. | ||
Instead, set parameters from configuration files named `*.param.yaml`. | ||
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Under Construction | ||
For understanding ROS 2 parameters, also check out the official documentation [Understanding parameters](https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Parameters/Understanding-ROS2-Parameters.html). | ||
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## Parameter files | ||
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Autoware has the following two types of parameter files for ROS packages: | ||
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- **Node parameter file** | ||
- Node parameter files store the default parameters provided for each package in Autoware. | ||
- For example, [the parameter of `behavior_path_planner`](https://github.com/autowarefoundation/autoware.universe/tree/245242cee866de2d113e89c562353c5fc17f1f98/planning/behavior_path_planner/config) | ||
- All nodes in Autoware must have a parameter file if one or more parameters that can be customized by the user are defined. | ||
- For `FOO_package`, the parameter is expected to be stored in `FOO_package/config`. | ||
- The launch file for individual packages must load node parameter by default: | ||
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```xml | ||
<launch> | ||
<arg name="foo_node_param_path" default="$(find-pkg-share FOO_package)/config/foo_node.param.yaml" /> | ||
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<node pkg="FOO_package" exec="foo_node"> | ||
... | ||
<param from="$(var foo_node_param_path)" /> | ||
</node> | ||
</launch> | ||
``` | ||
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- **Launch parameter file** | ||
- Launch parameter files store the customized parameters for user's vehicle. | ||
- For example, [the customized parameter of `behavior_path_planner` stored under `autoware_launch`](https://github.com/autowarefoundation/autoware_launch/tree/5fa613b9d80bf4f0db77efde03a43f7ede6bac86/autoware_launch/config) | ||
- Launch parameter files are stored under `autoware_launch`. | ||
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All the parameter files should have the `.param.yaml` suffix so that the auto-format can be applied properly. |
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