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feat(planning_error_monitor): read params from yaml
Signed-off-by: Kazuki Matsumoto <kazuki.matsumoto@tier4.jp>
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@@ -58,5 +58,6 @@ endif() | |
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| ament_auto_package( | ||
| INSTALL_TO_SHARE | ||
| launch | ||
| config | ||
| launch | ||
| ) | ||
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planning/planning_error_monitor/config/planning_error_monitor.param.yaml
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| @@ -0,0 +1,7 @@ | ||
| /**: | ||
| ros__parameters: | ||
| # trajectory check | ||
| error_interval: 100.0 # error interval distance threshold [m] | ||
| error_curvature: 2.0 # error curvature threshold | ||
| error_sharp_angle: 0.785398 # error sharp angle threshold | ||
| ignore_too_close_points: 0.01 # ignore too close distance threshold |
8 changes: 4 additions & 4 deletions
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planning/planning_error_monitor/launch/planning_error_monitor.launch.xml
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| @@ -1,15 +1,15 @@ | ||
| <launch> | ||
| <!--select run mode for analyze trajectory--> | ||
| <arg name="run_mode" default="final_output" description="options: final_output, avoidance,surround_obstacle,obstacle_stop"/> | ||
| <arg name="planning_error_monitor_param_path" default="$(find-pkg-share planning_error_monitor)/config/planning_error_monitor.param.yaml"/> | ||
| <arg name="input/trajectory" default="/planning/scenario_planning/trajectory"/> | ||
| <let name="input/trajectory" value="/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory" if="$(eval "'$(var run_mode)'=='avoidance'")"/> | ||
| <let name="input/trajectory" value="/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/trajectory" if="$(eval "'$(var run_mode)'=='surround_obstacle'")"/> | ||
| <let name="input/trajectory" value="/planning/scenario_planning/lane_driving/trajectory" if="$(eval "'$(var run_mode)'=='obstacle_stop'")"/> | ||
| <node name="planning_error_monitor" exec="planning_error_monitor" pkg="planning_error_monitor" output="screen"> | ||
| <!-- load config a file --> | ||
| <param from="$(var planning_error_monitor_param_path)"/> | ||
| <!-- remap topic name --> | ||
| <remap from="~/input/trajectory" to="$(var input/trajectory)"/> | ||
| <param name="error_interval" value="100.0"/> | ||
| <param name="error_curvature" value="2.0"/> | ||
| <param name="error_sharp_angle" value="0.785398"/> | ||
| <param name="ignore_too_close_points" value="0.01"/> | ||
| </node> | ||
| </launch> |