From d6e172809cbdd09709280b5161968f95c1fa3a93 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 6 Nov 2023 12:31:21 +0000
Subject: [PATCH] Move default firmware params to leo_fw

---
 leo_bringup/launch/leo_bringup.launch.xml        | 16 +++++++---------
 .../data/default_firmware_params.yaml            |  0
 leo_fw/leo_fw/nodes/parameter_bridge.py          | 12 +++++++++++-
 3 files changed, 18 insertions(+), 10 deletions(-)
 rename leo_bringup/config/firmware.yaml => leo_fw/data/default_firmware_params.yaml (100%)

diff --git a/leo_bringup/launch/leo_bringup.launch.xml b/leo_bringup/launch/leo_bringup.launch.xml
index f88d725..3d45b90 100644
--- a/leo_bringup/launch/leo_bringup.launch.xml
+++ b/leo_bringup/launch/leo_bringup.launch.xml
@@ -10,13 +10,13 @@
     description="Flag specifying wheel types of the robot for visualization purposes" />
   <arg name="tf_frame_prefix" default="" />
 
-  <arg name="override_param_file"
+  <arg name="firmware_params_file"
     default=""
-    description="Absolute path to yaml file with firmware parameters to be overrided" />
+    description="Absolute path to the yaml file with firmware parameters to be overrided" />
 
   <include file="$(find-pkg-share leo_description)/launch/state_publisher.launch.xml">
     <arg name="model" value="$(var model)" />
-    <arg name="mecanum_wheels" value="$(var mecanum_wheels)"/>
+    <arg name="mecanum_wheels" value="$(var mecanum_wheels)" />
   </include>
 
   <node pkg="web_video_server"
@@ -39,6 +39,10 @@
     <param from="$(find-pkg-share leo_bringup)/config/firmware_message_converter.yaml" />
   </node>
 
+  <node pkg="leo_fw" exec="firmware_parameter_bridge">
+    <param name="override_params_file_path" value="$(var firmware_params_file)" />
+  </node>
+
   <node_container namespace=""
     name="image_container"
     pkg="rclcpp_components"
@@ -77,10 +81,4 @@
   <node pkg="leo_bringup"
     exec="leo_system" />
 
-  <node pkg="leo_fw" exec="firmware_parameter_bridge">
-    <param name="default_params_file_path"
-      value="$(find-pkg-share leo_bringup)/config/firmware.yaml" />
-    <param name="override_params_file_path" value="$(var override_param_file)" />
-  </node>
-
 </launch>
\ No newline at end of file
diff --git a/leo_bringup/config/firmware.yaml b/leo_fw/data/default_firmware_params.yaml
similarity index 100%
rename from leo_bringup/config/firmware.yaml
rename to leo_fw/data/default_firmware_params.yaml
diff --git a/leo_fw/leo_fw/nodes/parameter_bridge.py b/leo_fw/leo_fw/nodes/parameter_bridge.py
index 611a373..5ed2b28 100644
--- a/leo_fw/leo_fw/nodes/parameter_bridge.py
+++ b/leo_fw/leo_fw/nodes/parameter_bridge.py
@@ -18,8 +18,13 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 
+from os import path
+from typing import Optional
+
 import yaml  # type: ignore
 
+from ament_index_python import get_package_share_directory
+
 from rcl_interfaces.msg import Parameter as ParameterMsg, SetParametersResult
 from rcl_interfaces.srv import SetParameters
 
@@ -54,7 +59,12 @@ def __init__(self, executor: MultiThreadedExecutor) -> None:
         super().__init__("firmware_parameter_bridge")
         self.executor = executor
 
-        self.declare_parameter("default_params_file_path", "")
+        leo_fw_share = get_package_share_directory("leo_fw")
+
+        self.declare_parameter(
+            "default_params_file_path",
+            path.join(leo_fw_share, "data", "default_firmware_params.yaml"),
+        )
         self.declare_parameter("override_params_file_path", "")
 
         self.default_param_file: str = (