Merge branch 'main' into refactor/use_run_base_class_function

Signed-off-by: kyoichi-sugahara <[email protected]>
kyoichi-sugahara · Nov 9, 2023 · c47ddae · c47ddae
2 parents 9e63e94 + 0e471b3
commit c47ddae
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Showing 8 changed files with 50 additions and 12 deletions.
diff --git a/localization/gyro_odometer/CMakeLists.txt b/localization/gyro_odometer/CMakeLists.txt
@@ -32,4 +32,5 @@ endif()
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/localization/gyro_odometer/README.md b/localization/gyro_odometer/README.md
@@ -21,10 +21,7 @@
 
 ## Parameters
 
-| Parameter             | Type   | Description                      |
-| --------------------- | ------ | -------------------------------- |
-| `output_frame`        | String | output's frame id                |
-| `message_timeout_sec` | Double | delay tolerance time for message |
+{{ json_to_markdown("localization/gyro_odometer/schema/gyro_odometer.schema.json") }}
 
 ## Assumptions / Known limits
 

diff --git a/localization/gyro_odometer/config/gyro_odometer.param.yaml b/localization/gyro_odometer/config/gyro_odometer.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    output_frame: "base_link"
+    message_timeout_sec: 0.2
diff --git a/localization/gyro_odometer/launch/gyro_odometer.launch.xml b/localization/gyro_odometer/launch/gyro_odometer.launch.xml
@@ -9,8 +9,7 @@
   <arg name="output_twist_topic" default="gyro_twist" description="output twist topic name"/>
   <arg name="output_twist_with_covariance_topic" default="gyro_twist_with_covariance" description="output twist with covariance topic name"/>
 
-  <arg name="output_frame" default="base_link" description="output frame id"/>
-  <arg name="message_timeout_sec" default="0.2" description="delay tolerance time for message"/>
+  <arg name="config_file" default="$(find-pkg-share gyro_odometer)/config/gyro_odometer.param.yaml"/>
 
   <node pkg="gyro_odometer" exec="gyro_odometer" name="gyro_odometer" output="screen">
     <remap from="vehicle/twist_with_covariance" to="$(var input_vehicle_twist_with_covariance_topic)"/>
@@ -23,7 +22,6 @@
     <remap from="twist" to="$(var output_twist_topic)"/>
     <remap from="twist_with_covariance" to="$(var output_twist_with_covariance_topic)"/>
 
-    <param name="output_frame" value="$(var output_frame)"/>
-    <param name="message_timeout_sec" value="$(var message_timeout_sec)"/>
+    <param from="$(var config_file)"/>
   </node>
 </launch>
diff --git a/localization/gyro_odometer/schema/gyro_odometer.schema.json b/localization/gyro_odometer/schema/gyro_odometer.schema.json
@@ -0,0 +1,38 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for gyro odometer",
+  "type": "object",
+  "definitions": {
+    "gyro_odometer": {
+      "type": "object",
+      "properties": {
+        "output_frame": {
+          "type": "string",
+          "description": "output's frame id",
+          "default": "base_link"
+        },
+        "message_timeout_sec": {
+          "type": "number",
+          "description": "delay tolerance time for message",
+          "default": 0.2
+        }
+      },
+      "required": ["output_frame", "message_timeout_sec"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/gyro_odometer"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/localization/gyro_odometer/src/gyro_odometer_core.cpp b/localization/gyro_odometer/src/gyro_odometer_core.cpp
@@ -102,8 +102,8 @@ geometry_msgs::msg::TwistWithCovarianceStamped concatGyroAndOdometer(
 
 GyroOdometer::GyroOdometer(const rclcpp::NodeOptions & options)
 : Node("gyro_odometer", options),
-  output_frame_(declare_parameter("output_frame", "base_link")),
-  message_timeout_sec_(declare_parameter("message_timeout_sec", 0.2)),
+  output_frame_(declare_parameter<std::string>("output_frame")),
+  message_timeout_sec_(declare_parameter<double>("message_timeout_sec")),
   vehicle_twist_arrived_(false),
   imu_arrived_(false)
 {

diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -296,7 +296,7 @@ void GoalPlannerModule::processOnExit()
 
 bool GoalPlannerModule::isExecutionRequested() const
 {
-  if (current_state_ == ModuleStatus::RUNNING) {
+  if (getCurrentStatus() == ModuleStatus::RUNNING) {
     return true;
   }
 

diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
@@ -190,7 +190,7 @@ bool StartPlannerModule::isExecutionRequested() const
 
 bool StartPlannerModule::isModuleRunning() const
 {
-  return current_state_ == ModuleStatus::RUNNING;
+  return getCurrentStatus() == ModuleStatus::RUNNING;
 }
 
 bool StartPlannerModule::isCurrentPoseOnMiddleOfTheRoad() const
-Original file line number
+Diff line change
@@ Expand Up / @@ -32,4 +32,5 @@ endif() @@
     ament_auto_package(INSTALL_TO_SHARE
       launch
+      config
     )