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SubsystemControllerParams.yaml
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SubsystemControllerParams.yaml
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# This file contains configurations for the subsystem_controllers which manage the lifecycle of each individual subsystem
# For brevity the parameter descriptions are not provided here. The descriptions can be found in the default parameter files located
# in the subsystem_controllers parameter directory here: https://github.com/usdot-fhwa-stol/carma-platform/tree/develop/subsystem_controllers/config
# The parameters specified in this file override the parameters in the default parameter files.
# NOTE: Due to a limitation in ROS2 empty arrays in this file should be denoted with ['']
environment:
environment_perception_controller:
ros__parameters:
subsystem_namespace: /environment
required_subsystem_nodes: ['']
unmanaged_required_nodes:
- /hardware_interface/dsrc_driver_node
full_subsystem_required: true
hardware_interface:
drivers_controller:
ros__parameters:
subsystem_namespace: /hardware_interface
required_subsystem_nodes: ['']
unmanaged_required_nodes: ['']
excluded_namespace_nodes: # Lidar and GPS drivers are handled by the localization subsystem
- /hardware_interface/velodyne_lidar_driver_wrapper_node
- /hardware_interface/carma_novatel_driver_wrapper_node
ros1_required_drivers: ['']
ros1_camera_drivers:
- /hardware_interface/camera
full_subsystem_required: false
message:
v2x_controller:
ros__parameters:
subsystem_namespace: /message
required_subsystem_nodes: ['']
unmanaged_required_nodes:
- /hardware_interface/dsrc_driver_node
full_subsystem_required: true
guidance:
guidance_controller:
ros__parameters:
subsystem_namespace: /guidance
required_subsystem_nodes: ['']
unmanaged_required_nodes: [''] # TODO add the controller driver once it is integrated with ROS2
full_subsystem_required: true
required_plugins:
- /guidance/plugins/route_following_plugin
- /guidance/plugins/pure_pursuit_wrapper
- /guidance/plugins/inlanecruising_plugin
- /guidance/plugins/cooperative_lanechange
auto_activated_plugins:
- /guidance/plugins/lci_strategic_plugin
- /guidance/plugins/intersection_transit_maneuvering
- /guidance/plugins/light_controlled_intersection_tactical_plugin
- /guidance/plugins/stop_and_wait_plugin
- /guidance/plugins/sci_strategic_plugin
- /guidance/plugins/stop_controlled_intersection_tactical_plugin
- /guidance/plugins/platoon_control_ihp
- /guidance/plugins/platoon_strategic_ihp_node
- /guidance/plugins/platooning_tactical_plugin_node
- /guidance/plugins/yield_plugin
ros2_initial_plugins:
- /guidance/plugins/lci_strategic_plugin
- /guidance/plugins/inlanecruising_plugin
- /guidance/plugins/platoon_strategic_ihp_node
- /guidance/plugins/stop_and_wait_plugin
- /guidance/plugins/route_following_plugin
- /guidance/plugins/platooning_tactical_plugin_node
- /guidance/plugins/cooperative_lanechange
- /guidance/plugins/light_controlled_intersection_tactical_plugin
- /guidance/plugins/sci_strategic_plugin
- /guidance/plugins/stop_controlled_intersection_tactical_plugin
- /guidance/plugins/yield_plugin
- /guidance/plugins/pure_pursuit_wrapper
- /guidance/plugins/lci_strategic_plugin
- /guidance/plugins/intersection_transit_maneuvering
localization:
localization_controller:
ros__parameters:
subsystem_namespace: /localization
required_subsystem_nodes: ['']
unmanaged_required_nodes: ['']
full_subsystem_required: true
sensor_nodes:
- /hardware_interface/velodyne_lidar_driver_wrapper_node
- /hardware_interface/carma_novatel_driver_wrapper_node
sensor_fault_map: '
{
"sensor_fault_map":
[
[1,0,2],
[0,1,3],
[0,0,0]
]
}
'