fix(vehicle_launch): add raw_vehicle_cmd_converter parameter file (au…

…towarefoundation#812)

Signed-off-by: Fumiya Watanabe <[email protected]>

autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml

@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    convert_accel_cmd: true
+    convert_brake_cmd: true
+    convert_steer_cmd: false
+    use_steer_ff: true
+    use_steer_fb: true
+    is_debugging: false
+    max_throttle: 0.4
+    max_brake: 0.8
+    max_steer: 10.0
+    min_steer: -10.0
+    steer_pid:
+      kp: 150.0
+      ki: 15.0
+      kd: 0.0
+      max: 8.0
+      min: -8.0
+      max_p: 8.0
+      min_p: -8.0
+      max_i: 8.0
+      min_i: -8.0
+      max_d: 0.0
+      min_d: 0.0
+      invalid_integration_decay: 0.97

autoware_launch/launch/autoware.launch.xml

@@ -71,6 +71,7 @@
       <arg name="vehicle_id" value="$(var vehicle_id)"/>
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
+      <arg name="raw_vehicle_cmd_converter_param_path" value="$(find-pkg-share autoware_launch)/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml"/>
     </include>
   </group>