external_cmd_converter.launch.xml

<?xml version="1.0"?>
<launch>
  <arg name="external_cmd_converter_param" default="$(find-pkg-share autoware_external_cmd_converter)/config/external_cmd_converter.param.yaml"/>
  <!-- map file -->
  <arg name="csv_path_accel_map" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/accel_map.csv"/>
  <arg name="csv_path_brake_map" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/brake_map.csv"/>

  <!-- settings -->
  <arg name="ref_vel_gain" default="3.0"/>
  <arg name="timer_rate" default="10.0"/>
  <arg name="wait_for_first_topic" default="true"/>
  <arg name="control_command_timeout" default="1.0"/>
  <arg name="emergency_stop_timeout" default="3.0"/>

  <!-- input -->
  <arg name="in/external_control_cmd" default="/external/selected/external_control_cmd"/>
  <arg name="in/shift_cmd" default="/external/selected/gear_cmd"/>
  <arg name="in/emergency_stop" default="/external/selected/heartbeat"/>
  <arg name="in/current_gate_mode" default="/control/current_gate_mode"/>
  <arg name="in/odometry" default="/localization/kinematic_state"/>

  <!-- output -->
  <arg name="out/control_cmd" default="/external/selected/control_cmd"/>
  <arg name="out/latest_external_control_cmd" default="/api/external/get/command/selected/control"/>

  <!-- node -->
  <node pkg="autoware_external_cmd_converter" exec="external_cmd_converter_node" name="external_cmd_converter" output="screen">
    <param from="$(var external_cmd_converter_param)" allow_substs="true"/>
    <remap from="in/external_control_cmd" to="$(var in/external_control_cmd)"/>
    <remap from="in/shift_cmd" to="$(var in/shift_cmd)"/>
    <remap from="in/emergency_stop" to="$(var in/emergency_stop)"/>
    <remap from="in/current_gate_mode" to="$(var in/current_gate_mode)"/>
    <remap from="in/odometry" to="$(var in/odometry)"/>
    <remap from="out/control_cmd" to="$(var out/control_cmd)"/>
    <remap from="out/latest_external_control_cmd" to="$(var out/latest_external_control_cmd)"/>
  </node>
</launch>