Modify vehicle_constants_manager package
Description
What's been done
I've recently added vehicle_constants_manager
and vehicle_constants_manager_nodes
packages described in issue #1294 (closed).
vehicle_constants_manager
was responsible for:
- Calculating derivative parameters
- Performing basic sanity checks on parameters
- Obtaining vehicle parameters from
vehicle_constants_manager_node
with a service call and timeout.
vehicle_constants_manager_node
was responsible for:
- Reading parameters from a
.yaml
file - Publishing parameters with parameter server
I've created this because I had a misunderstanding with not being able to pass multiple parameter files to a single node.
Realization
But it turns out Autoware.Auto was already doing that in launch subdirectory with multiple packages: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/src/launch/autoware_demos/launch/avp_core.launch.py#L188
Also it is possible to pass multiple parameter files to a node using ros2 run
with multiple --params-file
arguments.
What should be done?
Since doing this is a much less error-prone and simpler approach than having to run another node, We should remove the vehicle_constants_manager_nodes
package.
And modify vehicle_constants_manager
package to do following instead:
- Calculating derivative parameters
- Performing basic sanity checks on parameters
- Declaring vehicle parameters and providing a
VehicleConstants
object.
Definition of Done
-
Remove vehicle_constants_manager_nodes
package -
Modify vehicle_constants_manager
package