Parameters reorganisation (#472)

* moved all params declarations to src/ * Update husarion_ugv_battery/launch/battery.launch.py Co-authored-by: Rafal Gorecki <[email protected]> --------- Co-authored-by: Rafal Gorecki <[email protected]>
husarion · Jan 2, 2025 · efc5411 · efc5411
1 parent ac9a5de
commit efc5411
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Showing 12 changed files with 39 additions and 8 deletions.
diff --git a/husarion_ugv_battery/CMakeLists.txt b/husarion_ugv_battery/CMakeLists.txt
@@ -31,12 +31,12 @@ add_executable(
   src/battery_publisher/single_battery_publisher.cpp)
 ament_target_dependencies(battery_driver_node ${PACKAGE_DEPENDENCIES})
 
-generate_parameter_library(battery_parameters config/battery_parameters.yaml)
+generate_parameter_library(battery_parameters src/battery_parameters.yaml)
 target_link_libraries(battery_driver_node battery_parameters)
 
 install(TARGETS battery_driver_node DESTINATION lib/${PROJECT_NAME})
 
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY config launch DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)

diff --git a/husarion_ugv_battery/config/battery.yaml b/husarion_ugv_battery/config/battery.yaml
@@ -0,0 +1,15 @@
+/**:
+  battery_driver:
+    ros__parameters:
+      adc:
+        device0: "/sys/bus/iio/devices/iio:device0"
+        device1: "/sys/bus/iio/devices/iio:device1"
+        ma_window_len:
+          charge: 10
+          temp: 10
+      ma_window_len:
+        voltage: 10
+        current: 10
+      roboteq:
+        driver_state_timeout: 0.2
+      battery_timeout: 1.0
diff --git a/husarion_ugv_battery/launch/battery.launch.py b/husarion_ugv_battery/launch/battery.launch.py
@@ -16,8 +16,13 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import EnvironmentVariable, LaunchConfiguration
+from launch.substitutions import (
+    EnvironmentVariable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
 from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
@@ -28,17 +33,28 @@ def generate_launch_description():
         description="Add namespace to all launched nodes.",
     )
 
+    battery_config_path = LaunchConfiguration("battery_config_path")
+    declare_battery_config_path_arg = DeclareLaunchArgument(
+        "battery_config_path",
+        default_value=PathJoinSubstitution(
+            [FindPackageShare("husarion_ugv_battery"), "config", "battery.yaml"]
+        ),
+        description="Specify the path to the system monitor configuration file.",
+    )
+
     battery_driver_node = Node(
         package="husarion_ugv_battery",
         executable="battery_driver_node",
         name="battery_driver",
+        parameters=[battery_config_path],
         namespace=namespace,
         remappings=[("/diagnostics", "diagnostics")],
         emulate_tty=True,
     )
 
     actions = [
         declare_namespace_arg,
+        declare_battery_config_path_arg,
         battery_driver_node,
     ]
 

diff --git a/...gv_battery/config/battery_parameters.yaml → ...n_ugv_battery/src/battery_parameters.yaml b/...gv_battery/config/battery_parameters.yaml → ...n_ugv_battery/src/battery_parameters.yaml
diff --git a/husarion_ugv_hardware_interfaces/CMakeLists.txt b/husarion_ugv_hardware_interfaces/CMakeLists.txt
@@ -42,7 +42,7 @@ endforeach()
 include_directories(include)
 
 generate_parameter_library(phidgets_spatial_parameters
-                           config/phidgets_spatial_parameters.yaml)
+                           src/phidgets_spatial_parameters.yaml)
 
 set(ENV{PKG_CONFIG_PATH}
     "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH}")

diff --git a/...s/config/phidgets_spatial_parameters.yaml → ...aces/src/phidgets_spatial_parameters.yaml b/...s/config/phidgets_spatial_parameters.yaml → ...aces/src/phidgets_spatial_parameters.yaml
diff --git a/husarion_ugv_lights/CMakeLists.txt b/husarion_ugv_lights/CMakeLists.txt
@@ -45,7 +45,7 @@ ament_target_dependencies(
   std_srvs)
 
 generate_parameter_library(lights_driver_parameters
-                           config/lights_driver_parameters.yaml)
+                           src/lights_driver_parameters.yaml)
 target_link_libraries(lights_driver_node_component lights_driver_parameters)
 
 add_library(
@@ -63,7 +63,7 @@ ament_target_dependencies(
   sensor_msgs)
 
 generate_parameter_library(lights_controller_parameters
-                           config/lights_controller_parameters.yaml)
+                           src/lights_controller_parameters.yaml)
 target_link_libraries(lights_controller_node_component yaml-cpp
                       lights_controller_parameters)
 

diff --git a/.../config/lights_controller_parameters.yaml → ...hts/src/lights_controller_parameters.yaml b/.../config/lights_controller_parameters.yaml → ...hts/src/lights_controller_parameters.yaml
diff --git a/...ghts/config/lights_driver_parameters.yaml → ..._lights/src/lights_driver_parameters.yaml b/...ghts/config/lights_driver_parameters.yaml → ..._lights/src/lights_driver_parameters.yaml
diff --git a/husarion_ugv_manager/CMakeLists.txt b/husarion_ugv_manager/CMakeLists.txt
@@ -86,7 +86,7 @@ ament_target_dependencies(
   tf2_geometry_msgs)
 
 generate_parameter_library(safety_manager_parameters
-                           config/safety_manager_parameters.yaml)
+                           src/safety_manager_parameters.yaml)
 target_link_libraries(safety_manager_node ${plugin_libs}
                       safety_manager_parameters)
 
@@ -104,7 +104,7 @@ ament_target_dependencies(
   tf2_geometry_msgs)
 
 generate_parameter_library(lights_manager_parameters
-                           config/lights_manager_parameters.yaml)
+                           src/lights_manager_parameters.yaml)
 target_link_libraries(lights_manager_node ${plugin_libs}
                       lights_manager_parameters)
 

diff --git a/...ger/config/lights_manager_parameters.yaml → ...anager/src/lights_manager_parameters.yaml b/...ger/config/lights_manager_parameters.yaml → ...anager/src/lights_manager_parameters.yaml
diff --git a/...ger/config/safety_manager_parameters.yaml → ...anager/src/safety_manager_parameters.yaml b/...ger/config/safety_manager_parameters.yaml → ...anager/src/safety_manager_parameters.yaml