From 150504cf307e4b57c026ef6a9e85c9a6aed10c0c Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Mon, 29 Jan 2024 16:40:29 +0900
Subject: [PATCH] fix(simple_object_merger): change the default param of
 timeout_threshold (#6133)

* fix(simple_object_merger): change the default param of timeout_threshold

Signed-off-by: scepter914 <scepter914@gmail.com>

* fix conflict

Signed-off-by: scepter914 <scepter914@gmail.com>

---------

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../simple_object_merger/launch/simple_object_merger.launch.xml | 2 +-
 .../src/simple_object_merger_node/simple_object_merger_node.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/perception/simple_object_merger/launch/simple_object_merger.launch.xml b/perception/simple_object_merger/launch/simple_object_merger.launch.xml
index 14fca01fa6438..ccd038c23b257 100644
--- a/perception/simple_object_merger/launch/simple_object_merger.launch.xml
+++ b/perception/simple_object_merger/launch/simple_object_merger.launch.xml
@@ -4,7 +4,7 @@
   <!-- Parameter -->
   <arg name="update_rate_hz" default="20.0"/>
   <arg name="new_frame_id" default="base_link"/>
-  <arg name="timeout_threshold" default="1.0"/>
+  <arg name="timeout_threshold" default="0.1"/>
   <arg name="input_topics" default="[]"/>
 
   <!-- Node -->
diff --git a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
index 693fccb7e937c..683c6921eef5b 100644
--- a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
+++ b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
@@ -82,7 +82,7 @@ SimpleObjectMergerNode::SimpleObjectMergerNode(const rclcpp::NodeOptions & node_
   // Node Parameter
   node_param_.update_rate_hz = declare_parameter<double>("update_rate_hz", 20.0);
   node_param_.new_frame_id = declare_parameter<std::string>("new_frame_id", "base_link");
-  node_param_.timeout_threshold = declare_parameter<double>("timeout_threshold", 1.0);
+  node_param_.timeout_threshold = declare_parameter<double>("timeout_threshold", 0.1);
 
   declare_parameter("input_topics", std::vector<std::string>());
   node_param_.topic_names = get_parameter("input_topics").as_string_array();