Hotfix lci param loading (#2105)

usdot-fhwa-stol · May 10, 2023 · dea203c · dea203c
2 parents c7c860e + 9e53d70
commit dea203c
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/carma/launch/plugins.launch.py b/carma/launch/plugins.launch.py
@@ -85,6 +85,8 @@ def generate_launch_description():
 
     pure_pursuit_tuning_parameters = [vehicle_calibration_dir, "/pure_pursuit/calibration.yaml"]
 
+    lci_plugin_calibration_params = [vehicle_calibration_dir, "/identifiers/UniqueVehicleParams.yaml"]
+
     carma_inlanecruising_plugin_container = ComposableNodeContainer(
         package='carma_ros2_utils',
         name='carma_lainlanecruising_plugin_container',
@@ -283,7 +285,8 @@ def generate_launch_description():
                 ],
                 parameters=[
                     lci_strategic_plugin_file_path,
-                    vehicle_config_param_file
+                    vehicle_config_param_file,
+                    lci_plugin_calibration_params
                 ]
             ),
         ]

diff --git a/lci_strategic_plugin/src/lci_strategic_plugin.cpp b/lci_strategic_plugin/src/lci_strategic_plugin.cpp
@@ -62,7 +62,7 @@ LCIStrategicPlugin::LCIStrategicPlugin(const rclcpp::NodeOptions &options)
   config_.intersection_transit_plugin_name = declare_parameter<std::string>("intersection_transit_plugin_name", config_.intersection_transit_plugin_name);
   config_.enable_carma_streets_connection = declare_parameter<bool>("enable_carma_streets_connection",config_.enable_carma_streets_connection);
   config_.mobility_rate = declare_parameter<double>("mobility_rate", config_.mobility_rate);
-  config_.vehicle_id = declare_parameter("vehicle_id", config_.vehicle_id);
+  config_.vehicle_id = declare_parameter<std::string>("vehicle_id", config_.vehicle_id);
 
   max_comfort_accel_ = config_.vehicle_accel_limit * config_.vehicle_accel_limit_multiplier;
   max_comfort_decel_ = -1 * config_.vehicle_decel_limit * config_.vehicle_decel_limit_multiplier;