fixed default radar config path

mavneo · Dec 7, 2022 · 1445574 · 1445574
1 parent 503102c
commit 1445574
Showing 1 changed file with 7 additions and 6 deletions.
diff --git a/iwr6843aop_pub/publisher_member_function.py b/iwr6843aop_pub/publisher_member_function.py
@@ -43,12 +43,13 @@
 cli_port = '/dev/ttyUSB0'
 global got_args
 got_args = False
+username = os.path.expanduser('~')
 global cfg_path
-cfg_path = '/~'
+cfg_path = username+'/ros2_ws/src/iwr6843aop_pub/cfg_files/xwr68xx_profile_30Hz.cfg'
 
 class TI:
     def __init__(self, sdk_version=3.4,  cli_baud=115200,data_baud=921600, num_rx=4, num_tx=3,
-                 verbose=False, connect=True, mode=0,cli_loc='COM4',data_loc='COM3', cfg_path=os.path.dirname(os.path.realpath(__file__)).replace("install/iwr6843isk_pub/lib/python3.8/site-packages/iwr6843isk_pub", "/src/iwr6843isk_pub/cfg_files") + "/" + "xwr68xx_profile_30Hz.cfg"):
+                 verbose=False, connect=True, mode=0,cli_loc="",data_loc="", cfg_path=""):
         super(TI, self).__init__()
         self.connected = False
         self.verbose = verbose
@@ -295,14 +296,14 @@ class MinimalPublisher(Node):
     def __init__(self):
         super().__init__('iwr6843_pcl_pub')
 
-        self.declare_parameter('data_port', '/dev/ttyUSB1')
-        self.declare_parameter('cli_port', '/dev/ttyUSB0')
-        self.declare_parameter('cfg_path', '~/ros2_ws/src/iwr6843aop_pub/cfg_files/xwr68xx_profile_25Hz_Elev_43m.cfg')
-
         global cfg_path
         global data_port
         global cli_port
 
+        self.declare_parameter('data_port', data_port)
+        self.declare_parameter('cli_port', cli_port)
+        self.declare_parameter('cfg_path', cfg_path)        
+
         data_port = self.get_parameter('data_port').get_parameter_value().string_value
         cli_port = self.get_parameter('cli_port').get_parameter_value().string_value
         cfg_path = self.get_parameter('cfg_path').get_parameter_value().string_value