Make launch files load vehicle model params dependent on argument (au…

…towarefoundation#228)

* Make vehicle_model configurable in behavior_velocity_planner

* Make vehicle_model configurable in vehicle_cmd_gate

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml

@@ -15,7 +15,8 @@
   <arg name="max_accel" default="-2.8" />
   <arg name="delay_response_time" default="1.3" />
 
-  <arg name="vehicle_param_file" default="$(find-pkg-share lexus_description)/config/vehicle_info.yaml"/>
+  <arg name="vehicle_model" />
+  <let name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.yaml"/>
 
   <node pkg="behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" output="screen">
     <param from="$(find-pkg-share behavior_velocity_planner)/config/blind_spot_param.yaml" />