There are so many duplicated parameters in Universe

[brkay54]

Related: autowarefoundation/autoware_launch#46
Hello everyone,

I realized that there are some vehicle specific parameters such as steering limit degree, maximum acceleration, maximum_jerk etc.
In current autoware universe launch architecture, every module loads these vehicle specific parameters from their own parameter files, this causes a lot of duplicated parameters.
I want to suggest that global_parameter_loader should load these vehicle specific parameters and other modules should use from it like vehicle_info_util.

[brkay54]

cc. @esteve @kenji-miyake @xmfcx @mehmetdogru

[kenji-miyake]

Related issues:

• Load parameters that should be managed centrally as global parameters. autoware.universe#910
• Consider using global_parameter_loader autoware.universe#143

cc @satoshi-ota @takayuki5168

[xmfcx]

More related issues:

• motion_velocity_smoother and behavior_velocity_planner should use the same smoother algorithm autoware.universe#987

[kenji-miyake]

I think there are two topics to be discussed.

1. How should we load global parameters?

I personally recommend global_parameter_loader, which internally uses SetParameter, to load parameters.
It can set parameters globally in the launch phase (before runtime).

However, the way that is widely used now is vehicle_info_param_file, which also can set parameters in the launch phase but is not flexible.
We have to define several parameter files and add them to each launch file as arguments.

autowarefoundation/autoware.universe#143 focuses on this.

2. What kind of parameter values should we define?

As you wrote, it's steering limit degree, maximum acceleration, maximum_jerk, etc.

autowarefoundation/autoware.universe#910 is mainly for this.