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feat(shift_decider): integrate generate_parameter_library #8871

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feat(shift_decider): integrate generate_parameter_library #8871

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1b038ce
add parameter description
mitukou1109 Sep 13, 2024
046c7f3
use parameter listener
mitukou1109 Sep 13, 2024
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8 changes: 8 additions & 0 deletions control/autoware_shift_decider/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,18 @@ project(autoware_shift_decider)
find_package(autoware_cmake REQUIRED)
autoware_package()

generate_parameter_library(shift_decider_parameters
param/shift_decider_parameters.yaml
)

ament_auto_add_library(${PROJECT_NAME}_node SHARED
src/${PROJECT_NAME}.cpp
)

target_link_libraries(${PROJECT_NAME}_node
shift_decider_parameters
)

rclcpp_components_register_node(${PROJECT_NAME}_node
PLUGIN "autoware::shift_decider::ShiftDecider"
EXECUTABLE ${PROJECT_NAME}
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4 changes: 3 additions & 1 deletion control/autoware_shift_decider/include/autoware/shift_decider/autoware_shift_decider.hpp
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Expand Up @@ -16,6 +16,7 @@
#define AUTOWARE__SHIFT_DECIDER__AUTOWARE_SHIFT_DECIDER_HPP_

#include "autoware/universe_utils/ros/polling_subscriber.hpp"
#include "shift_decider_parameters.hpp"

#include <rclcpp/rclcpp.hpp>

Expand Down Expand Up @@ -58,7 +59,8 @@ class ShiftDecider : public rclcpp::Node
autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr current_gear_ptr_;
uint8_t prev_shift_command = autoware_vehicle_msgs::msg::GearCommand::PARK;

bool park_on_goal_;
std::shared_ptr<::shift_decider::ParamListener> param_listener_;
::shift_decider::Params param_;
};
} // namespace autoware::shift_decider

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1 change: 1 addition & 0 deletions control/autoware_shift_decider/package.xml
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Expand Up @@ -17,6 +17,7 @@
<depend>autoware_system_msgs</depend>
<depend>autoware_universe_utils</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>generate_parameter_library</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>

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4 changes: 4 additions & 0 deletions control/autoware_shift_decider/param/shift_decider_parameters.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
shift_decider:
park_on_goal:
type: bool
description: Whether to put the gear in park when vehicle reaches the goal.
6 changes: 4 additions & 2 deletions control/autoware_shift_decider/src/autoware_shift_decider.cpp
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Expand Up @@ -31,7 +31,9 @@
rclcpp::QoS durable_qos(queue_size);
durable_qos.transient_local();

park_on_goal_ = declare_parameter<bool>("park_on_goal");
param_listener_ =
std::make_shared<::shift_decider::ParamListener>(this->get_node_parameters_interface());
param_ = param_listener_->get_params();

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pub_shift_cmd_ =
create_publisher<autoware_vehicle_msgs::msg::GearCommand>("output/gear_cmd", durable_qos);
Expand Down Expand Up @@ -71,7 +73,7 @@
if (
(autoware_state_->state == AutowareState::ARRIVED_GOAL ||
autoware_state_->state == AutowareState::WAITING_FOR_ROUTE) &&
park_on_goal_) {
param_.park_on_goal) {

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shift_cmd_.command = GearCommand::PARK;
} else {
shift_cmd_.command = current_gear_ptr_->report;
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