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tier4_control_launch#

Structure#

tier4_control_launch

Package Dependencies#

Please see <exec_depend> in package.xml.

Usage#

You can include as follows in *.launch.xml to use control.launch.py.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of planning.launch.xml.

<include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
  <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
  <!-- Parameter files -->
  <arg name="FOO_NODE_param_path" value="..."/>
  <arg name="BAR_NODE_param_path" value="..."/>
  ...
  <arg name="lateral_controller_mode" value="mpc_follower" />
</include>

Notes#

For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )