refactor: Create .yaml file for default parameters of fix_z_value_by_…

…pcd.launch.xml Signed-off-by: Motsu-san <[email protected]>
Motsu-san · Feb 2, 2024 · e36b018 · e36b018
1 parent fd7c489
commit e36b018
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Showing 2 changed files with 6 additions and 7 deletions.
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
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    llt_map_path: $(var llt_map_path)
+    pcd_map_path: $(var pcd_map_path)
+    llt_output_path: $(var llt_output_path)
diff --git a/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml b/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml
@@ -1,12 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  <arg name="llt_map_path" default=""/>
-  <arg name="pcd_map_path" default=""/>
-  <arg name="llt_output_path" default=""/>
-
   <node pkg="lanelet2_map_preprocessor" exec="fix_z_value_by_pcd" name="fix_z_value_by_pcd" output="screen">
-    <param name="llt_map_path" value="$(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>