feat(system_launch): add mrm operator's configs to system_launch (aut…

…owarefoundation#574) Signed-off-by: Makoto Kurihara <[email protected]> Signed-off-by: Makoto Kurihara <[email protected]>
TomohitoAndo · Nov 25, 2022 · d7b5273 · d7b5273
1 parent 8c5f2d4
commit d7b5273
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Showing 3 changed files with 17 additions and 2 deletions.
diff --git a/system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml b/system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    update_rate: 10
+    min_acceleration: -1.0
+    max_jerk: 0.3
+    min_jerk: -0.3
diff --git a/system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    update_rate: 30
+    target_acceleration: -2.5
+    target_jerk: -1.5
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
@@ -60,11 +60,15 @@
 
     <!-- MRM Operator -->
     <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
       <include file="$(find-pkg-share mrm_comfortable_stop_operator)/launch/mrm_comfortable_stop_operator.launch.py">
-        <arg name="config_file" value="$(find-pkg-share mrm_comfortable_stop_operator)/config/mrm_comfortable_stop_operator.param.yaml"/>
+        <arg name="config_file" value="$(var config_file)" />
       </include>
+    </group>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
       <include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
-        <arg name="config_file" value="$(find-pkg-share mrm_emergency_stop_operator)/config/mrm_emergency_stop_operator.param.yaml"/>
+        <arg name="config_file" value="$(var config_file)" />
       </include>
     </group>