From 5ba1b87a5087bda6513afe2ef76eb86c3afb451e Mon Sep 17 00:00:00 2001
From: Motsu-san <masahiro.sakamoto@tier4.jp>
Date: Fri, 2 Feb 2024 20:37:34 +0900
Subject: [PATCH] refactor: Create .yaml file for default parameters of
 fix_z_value_by_pcd.launch.xml

Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp>
---
 .../config/fix_z_value_by_pcd.param.yaml                  | 5 +++++
 .../launch/fix_z_value_by_pcd.launch.xml                  | 8 +-------
 2 files changed, 6 insertions(+), 7 deletions(-)
 create mode 100644 map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml

diff --git a/map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml b/map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml
new file mode 100644
index 0000000000000..de86ef7936d74
--- /dev/null
+++ b/map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    llt_map_path: $(var llt_map_path)
+    pcd_map_path: $(var pcd_map_path)
+    llt_output_path: $(var llt_output_path)
diff --git a/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml b/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml
index 82021ff25d240..5b2aa2e425184 100644
--- a/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml
+++ b/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml
@@ -1,12 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  <arg name="llt_map_path" default=""/>
-  <arg name="pcd_map_path" default=""/>
-  <arg name="llt_output_path" default=""/>
-
   <node pkg="lanelet2_map_preprocessor" exec="fix_z_value_by_pcd" name="fix_z_value_by_pcd" output="screen">
-    <param name="llt_map_path" value="$(var llt_map_path)"/>
-    <param name="pcd_map_path" value="$(var pcd_map_path)"/>
-    <param name="llt_output_path" value="$(var llt_output_path)"/>
+    <param from="$(find-pkg-share lanelet2_map_preprocessor)/config/fix_z_value_by_pcd.param.yaml" allow_substs="true"/>
   </node>
 </launch>