feat(tier4_control_launch): declare param path argument (#1432)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

launch/tier4_control_launch/launch/control.launch.py

@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import GroupAction
@@ -33,26 +35,42 @@ def launch_setup(context, *args, **kwargs):
     vehicle_info_param_path = LaunchConfiguration("vehicle_info_param_file").perform(context)
     with open(vehicle_info_param_path, "r") as f:
         vehicle_info_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    lat_controller_param_path = LaunchConfiguration("lat_controller_param_path").perform(context)
+
+    lat_controller_param_path = os.path.join(
+        LaunchConfiguration("tier4_control_launch_param_path").perform(context),
+        "trajectory_follower",
+        "lateral_controller.param.yaml",
+    )
     with open(lat_controller_param_path, "r") as f:
         lat_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    lon_controller_param_path = LaunchConfiguration("lon_controller_param_path").perform(context)
+
+    lon_controller_param_path = os.path.join(
+        LaunchConfiguration("tier4_control_launch_param_path").perform(context),
+        "trajectory_follower",
+        "longitudinal_controller.param.yaml",
+    )
     with open(lon_controller_param_path, "r") as f:
         lon_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    vehicle_cmd_gate_param_path = LaunchConfiguration("vehicle_cmd_gate_param_path").perform(
-        context
+
+    vehicle_cmd_gate_param_path = os.path.join(
+        LaunchConfiguration("tier4_control_launch_param_path").perform(context),
+        "vehicle_cmd_gate",
+        "vehicle_cmd_gate.param.yaml",
     )
     with open(vehicle_cmd_gate_param_path, "r") as f:
         vehicle_cmd_gate_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+
     lane_departure_checker_param_path = LaunchConfiguration(
         "lane_departure_checker_param_path"
     ).perform(context)
     with open(lane_departure_checker_param_path, "r") as f:
         lane_departure_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
-    operation_mode_transition_manager_param_path = LaunchConfiguration(
-        "operation_mode_transition_manager_param_path"
-    ).perform(context)
+    operation_mode_transition_manager_param_path = os.path.join(
+        LaunchConfiguration("tier4_control_launch_param_path").perform(context),
+        "operation_mode_transition_manager",
+        "operation_mode_transition_manager.param.yaml",
+    )
     with open(operation_mode_transition_manager_param_path, "r") as f:
         operation_mode_transition_manager_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
@@ -247,8 +265,17 @@ def add_launch_arg(name: str, default_value=None, description=None):
             DeclareLaunchArgument(name, default_value=default_value, description=description)
         )
 
-    # lateral controller
+    # parameter
+    add_launch_arg(
+        "tier4_control_launch_param_path",
+        [
+            FindPackageShare("tier4_control_launch"),
+            "/config",
+        ],
+        "tier4_control_launch parameter path",
+    )
 
+    # lateral controller
     add_launch_arg(
         "lateral_controller_mode",
         "mpc_follower",
@@ -264,42 +291,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "path to the parameter file of vehicle information",
     )
 
-    add_launch_arg(
-        "lat_controller_param_path",
-        [
-            FindPackageShare("tier4_control_launch"),
-            "/config/trajectory_follower/lateral_controller.param.yaml",
-        ],
-        "path to the parameter file of lateral controller",
-    )
-    add_launch_arg(
-        "lon_controller_param_path",
-        [
-            FindPackageShare("tier4_control_launch"),
-            "/config/trajectory_follower/longitudinal_controller.param.yaml",
-        ],
-        "path to the parameter file of longitudinal controller",
-    )
-    add_launch_arg(
-        "vehicle_cmd_gate_param_path",
-        [
-            FindPackageShare("tier4_control_launch"),
-            "/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml",
-        ],
-        "path to the parameter file of vehicle_cmd_gate",
-    )
     add_launch_arg(
         "lane_departure_checker_param_path",
         [FindPackageShare("lane_departure_checker"), "/config/lane_departure_checker.param.yaml"],
     )
-    add_launch_arg(
-        "operation_mode_transition_manager_param_path",
-        [
-            FindPackageShare("tier4_control_launch"),
-            "/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml",
-        ],
-        "path to the parameter file of vehicle_cmd_gate",
-    )
 
     # velocity controller
     add_launch_arg("show_debug_info", "false", "show debug information")