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feat(tier4_control_launch): switch control cmd topic #1685

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merged 1 commit into from
Dec 6, 2024
Merged

feat(tier4_control_launch): switch control cmd topic #1685

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9 changes: 8 additions & 1 deletion launch/tier4_control_launch/launch/control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,13 @@
from launch_ros.substitutions import FindPackageShare
import yaml

def get_control_cmd_topic(context):
is_redundant = LaunchConfiguration('launch_redundancy_system_components').perform(context)
system_run_mode = LaunchConfiguration('system_run_mode').perform(context)

if is_redundant.lower() == 'true' and system_run_mode.lower() == 'planning_simulation':
return '/main/control/command/control_cmd'
return '/control/command/control_cmd'

def launch_setup(context, *args, **kwargs):
with open(LaunchConfiguration("vehicle_param_file").perform(context), "r") as f:
Expand Down Expand Up @@ -218,7 +225,7 @@ def launch_setup(context, *args, **kwargs):
("input/kinematics", "/localization/kinematic_state"),
("input/acceleration", "/localization/acceleration"),
("output/vehicle_cmd_emergency", "/control/command/emergency_cmd"),
("output/control_cmd", "/control/command/control_cmd"),
("output/control_cmd", get_control_cmd_topic(context)),
("output/gear_cmd", "/control/command/gear_cmd"),
("output/turn_indicators_cmd", "/control/command/turn_indicators_cmd"),
("output/hazard_lights_cmd", "/control/command/hazard_lights_cmd"),
Expand Down
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