Modify to change calib param for each vehicle (autowarefoundation#51)

* add vehicle id to change parameter of each vehicle Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * add vehicle id to change param for each vehicle Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
tkimura4 · Dec 13, 2021 · 57b6f2a · 57b6f2a
1 parent 478e8db
commit 57b6f2a
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Showing 10 changed files with 11 additions and 3 deletions.
diff --git a/...g/aip_customized/sensors_calibration.yaml → ...t/aip_customized/sensors_calibration.yaml b/...g/aip_customized/sensors_calibration.yaml → ...t/aip_customized/sensors_calibration.yaml
diff --git a/...ch/config/aip_s1/sensors_calibration.yaml → ...g/default/aip_s1/sensors_calibration.yaml b/...ch/config/aip_s1/sensors_calibration.yaml → ...g/default/aip_s1/sensors_calibration.yaml
diff --git a/...ch/config/aip_x1/sensors_calibration.yaml → ...g/default/aip_x1/sensors_calibration.yaml b/...ch/config/aip_x1/sensors_calibration.yaml → ...g/default/aip_x1/sensors_calibration.yaml
diff --git a/...ch/config/aip_x2/sensors_calibration.yaml → ...g/default/aip_x2/sensors_calibration.yaml b/...ch/config/aip_x2/sensors_calibration.yaml → ...g/default/aip_x2/sensors_calibration.yaml
diff --git a/...onfig/aip_xx1/sensor_kit_calibration.yaml → ...fault/aip_xx1/sensor_kit_calibration.yaml b/...onfig/aip_xx1/sensor_kit_calibration.yaml → ...fault/aip_xx1/sensor_kit_calibration.yaml
diff --git a/...h/config/aip_xx1/sensors_calibration.yaml → .../default/aip_xx1/sensors_calibration.yaml b/...h/config/aip_xx1/sensors_calibration.yaml → .../default/aip_xx1/sensors_calibration.yaml
diff --git a/...h/config/aip_xx2/sensors_calibration.yaml → .../default/aip_xx2/sensors_calibration.yaml b/...h/config/aip_xx2/sensors_calibration.yaml → .../default/aip_xx2/sensors_calibration.yaml
diff --git a/launch/vehicle_launch/launch/vehicle.launch b/launch/vehicle_launch/launch/vehicle.launch
@@ -2,17 +2,21 @@
 <launch>
   <arg name="sensor_model"/>
   <arg name="vehicle_model"/>
+
   <arg name="simulation" default="false" />
+  <arg name ="vehicle_id" value="$(optenv VEHICLE_ID default)" />
 
   <!-- vehicle description -->
   <include file="$(find vehicle_launch)/launch/vehicle_description.launch">
     <arg name="vehicle_model" value="$(arg vehicle_model)"/>
     <arg name="sensor_model" value="$(arg sensor_model)"/>
+    <arg name="vehicle_id" value="$(arg vehicle_id)"/>
   </include>
 
   <!-- vehicle interface -->
   <include file="$(find vehicle_launch)/launch/vehicle_interface.launch">
     <arg name="simulation" value="$(arg simulation)"/>
     <arg name="vehicle_model" value="$(arg vehicle_model)"/>
+    <arg name="vehicle_id" value="$(arg vehicle_id)"/>
   </include>
 </launch>
diff --git a/launch/vehicle_launch/launch/vehicle_description.launch b/launch/vehicle_launch/launch/vehicle_description.launch
@@ -3,9 +3,11 @@
   <arg name="sensor_model"/>
   <arg name="vehicle_model"/>
 
+  <arg name ="vehicle_id" />
+
   <arg name="model" value="$(find vehicle_launch)/urdf/vehicle.xacro"/>
 
-  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model) vehicle_model:=$(arg vehicle_model) sensor_model:=$(arg sensor_model) config_dir:=$(find vehicle_launch)/config/$(arg sensor_model)"/>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model) vehicle_model:=$(arg vehicle_model) sensor_model:=$(arg sensor_model) config_dir:=$(find vehicle_launch)/config/$(arg vehicle_id)/$(arg sensor_model)"/>
 
   <group ns="/vehicle_info">
     <rosparam file="$(eval find(arg('vehicle_model')+'_description')+'/config/vehicle_info.yaml')" command="load"/>

diff --git a/launch/vehicle_launch/launch/vehicle_interface.launch b/launch/vehicle_launch/launch/vehicle_interface.launch
@@ -2,15 +2,17 @@
 <launch>
   <arg name="simulation" />
   <arg name="vehicle_model" />
-  <arg name="simulator_model" value="$(eval find(arg('vehicle_model')+'_description')+'/config/simulator_model.yaml')" />
+  <arg name="vehicle_id" />
 
   <!-- simulation mode -->
   <group if="$(eval simulation==true)">
+    <arg name="simulator_model" value="$(eval find(arg('vehicle_model')+'_description')+'/config/simulator_model.yaml')" />
     <include file="$(find simple_planning_simulator)/launch/simple_planning_simulator.launch" pass_all_args="true"/>
   </group>
 
   <!-- real mode -->
   <group unless="$(eval simulation==true)">
-    <include file="$(eval find(arg('vehicle_model')+'_description')+'/launch/vehicle_interface.launch')"/>
+    <include file="$(eval find(arg('vehicle_model')+'_description')+'/launch/vehicle_interface.launch')" >
+    </include>
   </group>
 </launch>