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refactor(multi_object_tracker): add multi_object_tracker node param #718

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merged 4 commits into from
Dec 5, 2023
Merged

refactor(multi_object_tracker): add multi_object_tracker node param #718

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624bce3
add multi_object_tracker node param
YoshiRi Dec 4, 2023
3f29ceb
add additional node parameters for future update
YoshiRi Dec 5, 2023
2284a81
style(pre-commit): autofix
pre-commit-ci[bot] Dec 5, 2023
9acae55
fix default value
YoshiRi Dec 5, 2023
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18 changes: 18 additions & 0 deletions ...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
/**:
ros__parameters:
# default tracker models for each class
car_tracker: "multi_vehicle_tracker"
truck_tracker: "multi_vehicle_tracker"
bus_tracker: "multi_vehicle_tracker"
trailer_tracker: "multi_vehicle_tracker"
pedestrian_tracker: "pedestrian_and_bicycle_tracker"
bicycle_tracker: "pedestrian_and_bicycle_tracker"
motorcycle_tracker: "pedestrian_and_bicycle_tracker"

# default tracker node parameters
publish_rate: 10.0
world_frame_id: map
enable_delay_compensation: false
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pass_through_unknown_objects: false
publish_untracked_objects: false
debug_flag: false
4 changes: 4 additions & 0 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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Expand Up @@ -81,6 +81,10 @@
name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
/>
<arg
name="object_recognition_tracking_multi_object_tracker_node_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml"
/>
<arg
name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml"
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