chore(object_merger): rework parameters (autowarefoundation#6160)

* chore(object_merger): parametrize some parameters Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * revert priority_mode Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Interplai · Jun 3, 2024 · 191b3db · 191b3db
1 parent f2150b8
commit 191b3db
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Showing 3 changed files with 10 additions and 4 deletions.
diff --git a/...ier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml b/...ier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
@@ -45,6 +45,7 @@
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger/input/objects)"/>
       <arg name="input/object1" value="clustering/objects"/>
+      <arg name="priority_mode" value="2"/>
       <arg name="output/object" value="$(var merger/output/objects)"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
       <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>

diff --git a/perception/object_merger/config/object_association_merger.param.yaml b/perception/object_merger/config/object_association_merger.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    sync_queue_size: 20
+    precision_threshold_to_judge_overlapped: 0.4
+    remove_overlapped_unknown_objects: true
diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/object_merger/launch/object_association_merger.launch.xml
@@ -6,17 +6,17 @@
   <arg name="priority_mode" default="2" description="0: Object0, 1: Object1, 2: Confidence"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
-  <arg name="sync_queue_size" default="20"/>
+  <arg name="object_association_merger_param_path" default="$(find-pkg-share object_merger)/config/object_association_merger.param.yaml"/>
 
   <node pkg="object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
     <remap from="input/object0" to="$(var input/object0)"/>
     <remap from="input/object1" to="$(var input/object1)"/>
     <remap from="output/object" to="$(var output/object)"/>
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var distance_threshold_list_path)"/>
+    <param from="$(var object_association_merger_param_path)"/>
+
+    <!-- Be careful when moving this parameter to param.yaml, since this value depends on which part this launcher is called -->
     <param name="priority_mode" value="$(var priority_mode)"/>
-    <param name="sync_queue_size" value="$(var sync_queue_size)"/>
-    <param name="precision_threshold_to_judge_overlapped" value="0.4"/>
-    <param name="remove_overlapped_unknown_objects" value="true"/>
   </node>
 </launch>