Consider using global_parameter_loader

[kenji-miyake]

With our current plan, there will be multiple default_common.param.yaml, but it might increase the maintenance cost, for example when the common parameter gets a new variable.

• https://github.com/autowarefoundation/autoware.universe/blob/c2e79c3a56956f867030b2cbc9675e2e7c7c1339/planning/external_velocity_limit_selector/config/default_common.param.yaml
• https://github.com/autowarefoundation/autoware.universe/blob/c2e79c3a56956f867030b2cbc9675e2e7c7c1339/planning/motion_velocity_smoother/config/default_common.param.yaml

To avoid this, we can consider global_parameter_loader.

autoware.universe/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml

Line 3 in c2e79c3

<include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py"/>

https://github.com/autowarefoundation/autoware.universe/blob/c2e79c3a56956f867030b2cbc9675e2e7c7c1339/common/autoware_global_parameter_loader

Without global_parameter_loader

launch.xml:

// planning.launch.xml
<launch>
  <include file="behavior_planner.launch.xml">
    <arg name="common_param_path" value="{path_to_file}" />
    <arg name="vehicle_param_path" value="{path_to_file}" />
  </include>
</launch>


// behavior_planner.launch.xml
<launch>
  // Don't consider the default values here because you can't use them when you debug in the real environment.
  <arg name="common_param_path" />
  <arg name="vehicle_param_path" />

  <node ...>
  </node>
</launch>

How to launch:

// autoware.launch.xml
ros2 launch autoware_launch autoware.launch.xml vehicle_model:={vehicle_name}

// behavior_planner.launch.xml
ros2 launch planning_launch behavior_planner.launch.xml common_param_path:={path_to_file} vehicle_info_param_path:={path_to_file}

With global_parameter_loader

launch.xml:

// planning.launch.xml
<launch>
  <include file="behavior_planner.launch.xml">
    // No arg
  </include>
</launch>

// behavior_planner.launch.xml
<launch>
  <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py"/>

  <node ...>
  </node>
</launch>

How to launch:

// autoware.launch.xml
ros2 launch autoware_launch autoware.launch.xml vehicle_model:={vehicle_name}

// behavior_planner.launch.xml
ros2 launch planning_launch behavior_planner.launch.xml vehicle_model:={vehicle_name}

[esteve]

@kenji-miyake this is how we solved this issue in Autoware.Auto: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/merge_requests/978 The solution was to move the vehicle characteristics (which are common to many packages and were duplicated everywhere) to a separate params file and then load it from launch files. The main difference between Autoware and Autoware.Auto is that we are using XML files to launch packages, but I think the Python scripts are more flexible.

[esteve]

@kenji-miyake are you actively working on this? I'd be happy to help 🙂

[kenji-miyake]

@esteve Thank you for your confirmation.
Actually, no. I'm not working on this now.

If you can help with this, I think it's good to start by collecting developers' opinions in https://github.com/orgs/autowarefoundation/discussions/416.
It's because there are no big technical issues and we only have to decide the design considering trade-offs of possible solutions.

Or I think it's also good to submit a draft PR so that everyone can have a more concrete image, and discuss the design there.

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[yukkysaito]

I agree with the introduction of global parameter because the maintenance cost of launch is high if the file path is passed.

[yukkysaito]

I will try to work on it this month.

[yukkysaito]

I'm working in this PR

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.