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ci(pre-commit): update pre-commit-hooks-ros (tier4#625)
* ci(pre-commit): update pre-commit-hooks-ros Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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4 changes: 2 additions & 2 deletions
4
common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml
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8 changes: 4 additions & 4 deletions
8
common/path_distance_calculator/launch/path_distance_calculator.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,8 +1,8 @@ | ||
| <launch> | ||
| <arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path" /> | ||
| <arg name="distance" default="~/distance" /> | ||
| <arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/> | ||
| <arg name="distance" default="~/distance"/> | ||
| <node pkg="path_distance_calculator" exec="path_distance_calculator_node" name="path_distance_calculator"> | ||
| <remap from="~/input/path" to="$(var path)" /> | ||
| <remap from="~/output/distance" to="$(var distance)" /> | ||
| <remap from="~/input/path" to="$(var path)"/> | ||
| <remap from="~/output/distance" to="$(var distance)"/> | ||
| </node> | ||
| </launch> |
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29 changes: 14 additions & 15 deletions
29
control/control_performance_analysis/launch/controller_performance_analysis.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,23 +1,22 @@ | ||
| <launch> | ||
|
|
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| <arg name="control_performance_analysis_param_path" default="$(find-pkg-share control_performance_analysis)/config/control_performance_analysis.param.yaml" /> | ||
| <arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory" /> | ||
| <arg name="input/control_raw" default="/control/trajectory_follower/lateral/control_cmd" /> | ||
| <arg name="input/measured_steering" default="/vehicle/status/steering_status" /> | ||
| <arg name="input/current_odometry" default="/localization/kinematic_state" /> | ||
| <arg name="output/error_stamped" default="/control_performance/performance_vars" /> | ||
| <arg name="control_performance_analysis_param_path" default="$(find-pkg-share control_performance_analysis)/config/control_performance_analysis.param.yaml"/> | ||
| <arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory"/> | ||
| <arg name="input/control_raw" default="/control/trajectory_follower/lateral/control_cmd"/> | ||
| <arg name="input/measured_steering" default="/vehicle/status/steering_status"/> | ||
| <arg name="input/current_odometry" default="/localization/kinematic_state"/> | ||
| <arg name="output/error_stamped" default="/control_performance/performance_vars"/> | ||
|
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| <!-- vehicle info --> | ||
| <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" /> | ||
| <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/> | ||
|
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| <node pkg="control_performance_analysis" exec="control_performance_analysis" name="control_performance_analysis" output="screen"> | ||
| <param from="$(var control_performance_analysis_param_path)" /> | ||
| <param from="$(var vehicle_info_param_file)" /> | ||
| <param from="$(var control_performance_analysis_param_path)"/> | ||
| <param from="$(var vehicle_info_param_file)"/> | ||
|
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| <remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)" /> | ||
| <remap from="~/input/control_raw" to="$(var input/control_raw)" /> | ||
| <remap from="~/input/measured_steering" to="$(var input/measured_steering)" /> | ||
| <remap from="~/input/current_odometry" to="$(var input/current_odometry)" /> | ||
| <remap from="~/output/error_stamped" to="$(var output/error_stamped)" /> | ||
| <remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)"/> | ||
| <remap from="~/input/control_raw" to="$(var input/control_raw)"/> | ||
| <remap from="~/input/measured_steering" to="$(var input/measured_steering)"/> | ||
| <remap from="~/input/current_odometry" to="$(var input/current_odometry)"/> | ||
| <remap from="~/output/error_stamped" to="$(var output/error_stamped)"/> | ||
| </node> | ||
| </launch> |
66 changes: 32 additions & 34 deletions
66
control/external_cmd_selector/launch/external_cmd_selector.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,49 +1,47 @@ | ||
| <launch> | ||
|
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| <!-- settings --> | ||
| <arg name="initial_selector_mode" default="local" description="local, remote" /> | ||
| <arg name="initial_selector_mode" default="local" description="local, remote"/> | ||
|
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| <!-- service --> | ||
| <arg name="service/select_external_command" default="~/select_external_command" /> | ||
| <arg name="service/select_external_command" default="~/select_external_command"/> | ||
|
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||
| <!-- input local --> | ||
| <arg name="input/local/control_cmd" default="/api/external/set/command/local/control" /> | ||
| <arg name="input/local/shift_cmd" default="/api/external/set/command/local/shift" /> | ||
| <arg name="input/local/turn_signal_cmd" default="/api/external/set/command/local/turn_signal" /> | ||
| <arg name="input/local/heartbeat" default="/api/external/set/command/local/heartbeat" /> | ||
| <arg name="input/local/control_cmd" default="/api/external/set/command/local/control"/> | ||
| <arg name="input/local/shift_cmd" default="/api/external/set/command/local/shift"/> | ||
| <arg name="input/local/turn_signal_cmd" default="/api/external/set/command/local/turn_signal"/> | ||
| <arg name="input/local/heartbeat" default="/api/external/set/command/local/heartbeat"/> | ||
|
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| <!-- input remote --> | ||
| <arg name="input/remote/control_cmd" default="/api/external/set/command/remote/control" /> | ||
| <arg name="input/remote/shift_cmd" default="/api/external/set/command/remote/shift" /> | ||
| <arg name="input/remote/turn_signal_cmd" default="/api/external/set/command/remote/turn_signal" /> | ||
| <arg name="input/remote/heartbeat" default="/api/external/set/command/remote/heartbeat" /> | ||
| <arg name="input/remote/control_cmd" default="/api/external/set/command/remote/control"/> | ||
| <arg name="input/remote/shift_cmd" default="/api/external/set/command/remote/shift"/> | ||
| <arg name="input/remote/turn_signal_cmd" default="/api/external/set/command/remote/turn_signal"/> | ||
| <arg name="input/remote/heartbeat" default="/api/external/set/command/remote/heartbeat"/> | ||
|
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| <!-- output --> | ||
| <arg name="output/control_cmd" default="/external/selected/external_control_cmd" /> | ||
| <arg name="output/gear_cmd" default="/external/selected/gear_cmd" /> | ||
| <arg name="output/turn_indicators_cmd" default="/external/selected/turn_indicators_cmd" /> | ||
| <arg name="output/hazard_lights_cmd" default="/external/selected/hazard_lights_cmd" /> | ||
| <arg name="output/heartbeat" default="/external/selected/heartbeat" /> | ||
| <arg name="output/current_selector_mode" default="~/current_selector_mode" /> | ||
| <arg name="output/control_cmd" default="/external/selected/external_control_cmd"/> | ||
| <arg name="output/gear_cmd" default="/external/selected/gear_cmd"/> | ||
| <arg name="output/turn_indicators_cmd" default="/external/selected/turn_indicators_cmd"/> | ||
| <arg name="output/hazard_lights_cmd" default="/external/selected/hazard_lights_cmd"/> | ||
| <arg name="output/heartbeat" default="/external/selected/heartbeat"/> | ||
| <arg name="output/current_selector_mode" default="~/current_selector_mode"/> | ||
|
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| <!-- node --> | ||
| <node pkg="external_cmd_selector" exec="external_cmd_selector" name="external_cmd_selector" output="screen"> | ||
| <remap from="~/service/select_external_command" to="$(var service/select_external_command)" /> | ||
| <remap from="~/input/local/control_cmd" to="$(var input/local/control_cmd)" /> | ||
| <remap from="~/input/local/shift_cmd" to="$(var input/local/shift_cmd)" /> | ||
| <remap from="~/input/local/turn_signal_cmd" to="$(var input/local/turn_signal_cmd)" /> | ||
| <remap from="~/input/local/heartbeat" to="$(var input/local/heartbeat)" /> | ||
| <remap from="~/input/remote/control_cmd" to="$(var input/remote/control_cmd)" /> | ||
| <remap from="~/input/remote/shift_cmd" to="$(var input/remote/shift_cmd)" /> | ||
| <remap from="~/input/remote/turn_signal_cmd" to="$(var input/remote/turn_signal_cmd)" /> | ||
| <remap from="~/input/remote/heartbeat" to="$(var input/remote/heartbeat)" /> | ||
| <remap from="~/output/control_cmd" to="$(var output/control_cmd)" /> | ||
| <remap from="~/output/gear_cmd" to="$(var output/gear_cmd)" /> | ||
| <remap from="~/output/turn_indicators_cmd" to="$(var output/turn_indicators_cmd)" /> | ||
| <remap from="~/output/hazard_lights_cmd" to="$(var output/hazard_lights_cmd)" /> | ||
| <remap from="~/output/heartbeat" to="$(var output/heartbeat)" /> | ||
| <remap from="~/output/current_selector_mode" to="$(var output/current_selector_mode)" /> | ||
| <param name="initial_selector_mode" value="$(var initial_selector_mode)" /> | ||
| <remap from="~/service/select_external_command" to="$(var service/select_external_command)"/> | ||
| <remap from="~/input/local/control_cmd" to="$(var input/local/control_cmd)"/> | ||
| <remap from="~/input/local/shift_cmd" to="$(var input/local/shift_cmd)"/> | ||
| <remap from="~/input/local/turn_signal_cmd" to="$(var input/local/turn_signal_cmd)"/> | ||
| <remap from="~/input/local/heartbeat" to="$(var input/local/heartbeat)"/> | ||
| <remap from="~/input/remote/control_cmd" to="$(var input/remote/control_cmd)"/> | ||
| <remap from="~/input/remote/shift_cmd" to="$(var input/remote/shift_cmd)"/> | ||
| <remap from="~/input/remote/turn_signal_cmd" to="$(var input/remote/turn_signal_cmd)"/> | ||
| <remap from="~/input/remote/heartbeat" to="$(var input/remote/heartbeat)"/> | ||
| <remap from="~/output/control_cmd" to="$(var output/control_cmd)"/> | ||
| <remap from="~/output/gear_cmd" to="$(var output/gear_cmd)"/> | ||
| <remap from="~/output/turn_indicators_cmd" to="$(var output/turn_indicators_cmd)"/> | ||
| <remap from="~/output/hazard_lights_cmd" to="$(var output/hazard_lights_cmd)"/> | ||
| <remap from="~/output/heartbeat" to="$(var output/heartbeat)"/> | ||
| <remap from="~/output/current_selector_mode" to="$(var output/current_selector_mode)"/> | ||
| <param name="initial_selector_mode" value="$(var initial_selector_mode)"/> | ||
| </node> | ||
|
|
||
| </launch> |
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18 changes: 9 additions & 9 deletions
18
control/lane_departure_checker/launch/lane_departure_checker.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,21 +1,21 @@ | ||
| <launch> | ||
| <arg name="input/odometry" default="/localization/kinematic_state" /> | ||
| <arg name="input/lanelet_map_bin" default="/map/vector_map" /> | ||
| <arg name="input/route" default="/planning/mission_planning/route" /> | ||
| <arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory" /> | ||
| <arg name="input/predicted_trajectory" default="/control/trajectory_follower/predicted_trajectory" /> | ||
| <arg name="config_file" default="$(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml" /> | ||
| <arg name="input/odometry" default="/localization/kinematic_state"/> | ||
| <arg name="input/lanelet_map_bin" default="/map/vector_map"/> | ||
| <arg name="input/route" default="/planning/mission_planning/route"/> | ||
| <arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory"/> | ||
| <arg name="input/predicted_trajectory" default="/control/trajectory_follower/predicted_trajectory"/> | ||
| <arg name="config_file" default="$(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml"/> | ||
|
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| <!-- vehicle info --> | ||
| <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" /> | ||
| <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/> | ||
|
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| <node pkg="lane_departure_checker" exec="lane_departure_checker_node" name="lane_departure_checker_node" output="screen"> | ||
| <remap from="~/input/odometry" to="$(var input/odometry)"/> | ||
| <remap from="~/input/lanelet_map_bin" to="$(var input/lanelet_map_bin)"/> | ||
| <remap from="~/input/route" to="$(var input/route)"/> | ||
| <remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)"/> | ||
| <remap from="~/input/predicted_trajectory" to="$(var input/predicted_trajectory)"/> | ||
| <param from="$(var config_file)" /> | ||
| <param from="$(var vehicle_info_param_file)" /> | ||
| <param from="$(var config_file)"/> | ||
| <param from="$(var vehicle_info_param_file)"/> | ||
| </node> | ||
| </launch> |
18 changes: 9 additions & 9 deletions
18
control/obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| <launch> | ||
| <node pkg="shift_decider" exec="shift_decider" name="shift_decider" output="screen"> | ||
| <remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd" /> | ||
| <remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd" /> | ||
| <remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/> | ||
| <remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd"/> | ||
| </node> | ||
| </launch> |
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