From 9e53d7041bbbdcb2cede814a390d8a8f2f5ad50f Mon Sep 17 00:00:00 2001 From: Misheel Bayartsengel Date: Tue, 9 May 2023 17:51:05 -0400 Subject: [PATCH] fix lci param loading --- carma/launch/plugins.launch.py | 5 ++++- lci_strategic_plugin/src/lci_strategic_plugin.cpp | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/carma/launch/plugins.launch.py b/carma/launch/plugins.launch.py index 28891da64e..f034e1bb86 100644 --- 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 index b128d61477..f98c2183ae 100755 --- 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("intersection_transit_plugin_name", config_.intersection_transit_plugin_name); config_.enable_carma_streets_connection = declare_parameter("enable_carma_streets_connection",config_.enable_carma_streets_connection); config_.mobility_rate = declare_parameter("mobility_rate", config_.mobility_rate); - config_.vehicle_id = declare_parameter("vehicle_id", config_.vehicle_id); + config_.vehicle_id = declare_parameter("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;