From 7a0d12e77a533138d8746bceed5db90441f621e9 Mon Sep 17 00:00:00 2001
From: meliketanrikulu <melike@leodrive.ai>
Date: Fri, 8 Mar 2024 17:00:22 +0300
Subject: [PATCH] update parameter names

Signed-off-by: meliketanrikulu <melike@leodrive.ai>
---
 ...toware_pose_covariance_modifier.param.yaml |  6 +++---
 ...autoware_pose_covariance_modifier_node.cpp | 20 ++++++++++---------
 ...autoware_pose_covariance_modifier_node.hpp |  2 ++
 3 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/localization/autoware_pose_covariance_modifier_node/config/autoware_pose_covariance_modifier.param.yaml b/localization/autoware_pose_covariance_modifier_node/config/autoware_pose_covariance_modifier.param.yaml
index 9bced3bf52332..57cbc02fd223f 100644
--- a/localization/autoware_pose_covariance_modifier_node/config/autoware_pose_covariance_modifier.param.yaml
+++ b/localization/autoware_pose_covariance_modifier_node/config/autoware_pose_covariance_modifier.param.yaml
@@ -1,10 +1,10 @@
 /**:
   ros__parameters:
     # Threshold value for the range in which GNSS error is most reliable
-    PositionErrorThreshold_1: 0.1      #meters
+    gnss_error_reliable_max: 0.1      #meters
 
     # Threshold value at which GNSS error is not considered reliable
-    PositionErrorThreshold_2: 0.25     #meters
+    gnss_error_unreliable_min: 0.25   #meters
 
     # Threshold value for yaw error
-    YawErrorThreshold: 0.3             #degrees
+    yaw_error_deg_threshold: 0.3      #degrees
diff --git a/localization/autoware_pose_covariance_modifier_node/src/autoware_pose_covariance_modifier_node.cpp b/localization/autoware_pose_covariance_modifier_node/src/autoware_pose_covariance_modifier_node.cpp
index 388b917200b16..ccd094909352f 100644
--- a/localization/autoware_pose_covariance_modifier_node/src/autoware_pose_covariance_modifier_node.cpp
+++ b/localization/autoware_pose_covariance_modifier_node/src/autoware_pose_covariance_modifier_node.cpp
@@ -19,6 +19,14 @@
 AutowarePoseCovarianceModifierNode::AutowarePoseCovarianceModifierNode()
 : Node("AutowarePoseCovarianceModifierNode")
 {
+
+  gnss_error_reliable_max_ =
+   this->declare_parameter<double>("gnss_error_reliable_max", 0.10);
+  gnss_error_unreliable_min_ =
+   this->declare_parameter<double>("gnss_error_unreliable_min", 0.25);
+  yaw_error_deg_threshold_ =
+   this->declare_parameter<double>("yaw_error_deg_threshold", 0.3);
+
   trusted_pose_with_cov_sub_ =
     this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
       "input_trusted_pose_with_cov_topic", 10000,
@@ -69,12 +77,6 @@ std::array<double, 36> AutowarePoseCovarianceModifierNode::ndt_covariance_modifi
 {
   std::array<double, 36> ndt_covariance = in_ndt_covariance;
 
-  double position_error_threshold_1_ =
-    this->declare_parameter<double>("PositionErrorThreshold_1", 0.10);
-  double position_error_threshold_2_ =
-    this->declare_parameter<double>("PositionErrorThreshold_2", 0.25);
-  double yaw_error_threshold_ = this->declare_parameter<double>("YawErrorThreshold", 0.3);
-
   if (AutowarePoseCovarianceModifierNode::checkTrustedPoseTimeout()) {
     RCLCPP_WARN(this->get_logger(), "Trusted Pose Timeout");
     pose_source_ = static_cast<int>(AutowarePoseCovarianceModifierNode::PoseSource::NDT);
@@ -82,10 +84,10 @@ std::array<double, 36> AutowarePoseCovarianceModifierNode::ndt_covariance_modifi
   }
 
   if (
-    trustedPose.pose_average_rmse_xy <= position_error_threshold_1_ &&
-    trustedPose.yaw_rmse_in_degrees < yaw_error_threshold_) {
+    trustedPose.pose_average_rmse_xy <= gnss_error_reliable_max_ &&
+    trustedPose.yaw_rmse_in_degrees < yaw_error_deg_threshold_) {
     pose_source_ = static_cast<int>(AutowarePoseCovarianceModifierNode::PoseSource::GNSS);
-  } else if (trustedPose.pose_average_rmse_xy <= position_error_threshold_2_) {
+  } else if (trustedPose.pose_average_rmse_xy <= gnss_error_unreliable_min_) {
     /*
      * ndt_min_rmse_meters = in_ndt_rmse
      * ndt_max_rmse_meters = in_ndt_rmse  * 2
diff --git a/localization/autoware_pose_covariance_modifier_node/src/include/autoware_pose_covariance_modifier_node.hpp b/localization/autoware_pose_covariance_modifier_node/src/include/autoware_pose_covariance_modifier_node.hpp
index f4233330bf9e1..78a083dfd4874 100644
--- a/localization/autoware_pose_covariance_modifier_node/src/include/autoware_pose_covariance_modifier_node.hpp
+++ b/localization/autoware_pose_covariance_modifier_node/src/include/autoware_pose_covariance_modifier_node.hpp
@@ -58,6 +58,8 @@ class AutowarePoseCovarianceModifierNode : public rclcpp::Node
   void publishPoseSource();
   int pose_source_;
   rclcpp::Time trustedPoseCallbackTime;
+
+  double gnss_error_reliable_max_, gnss_error_unreliable_min_,yaw_error_deg_threshold_;
 };
 
 #endif  // AUTOWARE_POSE_COVARIANCE_MODIFIER_NODE_HPP_