feat: fix ground_segmentation.launch.py to prevent autoware death

Signed-off-by: yoshiri <[email protected]>

launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -23,6 +23,7 @@
 from launch.substitutions import PathJoinSubstitution
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch_ros.parameter_descriptions import ParameterFile
 from launch_ros.substitutions import FindPackageShare
 import yaml
 
@@ -327,7 +328,9 @@ def create_single_frame_obstacle_segmentation_components(self, input_topic, outp
         return components
 
     @staticmethod
-    def create_time_series_outlier_filter_components(input_topic, output_topic):
+    def create_time_series_outlier_filter_components(
+        input_topic, output_topic, ogm_outlier_filter_param
+    ):
         components = []
         components.append(
             ComposableNode(
@@ -339,6 +342,7 @@ def create_time_series_outlier_filter_components(input_topic, output_topic):
                     ("~/input/pointcloud", input_topic),
                     ("~/output/pointcloud", output_topic),
                 ],
+                parameters=[ogm_outlier_filter_param],
                 extra_arguments=[
                     {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
                 ],
@@ -545,6 +549,9 @@ def launch_setup(context, *args, **kwargs):
                     else pipeline.single_frame_obstacle_seg_output
                 ),
                 output_topic=pipeline.output_topic,
+                ogm_outlier_filter_param=ParameterFile(
+                    LaunchConfiguration("ogm_outlier_filter_param_path").perform(context)
+                ),
             )
         )
     pointcloud_container_loader = LoadComposableNodes(
@@ -565,6 +572,13 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
     add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")
+    add_launch_arg(
+        "ogm_outlier_filter_param_path",
+        [
+            FindPackageShare("autoware_launch"),
+            "/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_based_outlier_filter.param.yaml",
+        ],
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",