From b47d306171d945dee3ff4dd75c0d02bb983003c9 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Thu, 1 Feb 2024 13:35:41 +0900
Subject: [PATCH] chore(radar_crossing_objects_noise_filter): add config file
 (#6210)

* chore(radar_crossing_objects_noise_filter): add config file

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

* bug fix

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

* merge main branch

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

---------

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../object_recognition/detection/detection.launch.xml       | 5 +++--
 .../detection/detector/radar_detector.launch.xml            | 6 ++----
 launch/tier4_perception_launch/launch/perception.launch.xml | 1 +
 .../radar_crossing_objects_noise_filter/CMakeLists.txt      | 1 +
 .../config/radar_crossing_objects_noise_filter.param.yaml   | 4 ++++
 .../launch/radar_crossing_objects_noise_filter.launch.xml   | 6 ++----
 6 files changed, 13 insertions(+), 10 deletions(-)
 create mode 100644 perception/radar_crossing_objects_noise_filter/config/radar_crossing_objects_noise_filter.param.yaml

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index bd75d8af12fc9..385372b34f81b 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -75,8 +75,7 @@
       <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
-        <arg name="filter/angle_threshold" value="1.0472"/>
-        <arg name="filter/velocity_threshold" value="3.0"/>
+        <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
         <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
         <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
         <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
@@ -177,6 +176,7 @@
       <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
+        <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
         <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
         <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
         <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
@@ -238,6 +238,7 @@
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
+      <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
       <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
       <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
index 41325f984d7bb..f79a227873c29 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
@@ -2,8 +2,7 @@
 <launch>
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
   <arg name="output/objects" default="far_objects"/>
-  <arg name="filter/angle_threshold" default="1.221"/>
-  <arg name="filter/velocity_threshold" default="1.5"/>
+  <arg name="radar_crossing_objects_noise_filter_param_path"/>
   <arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
   <arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
   <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
@@ -14,8 +13,7 @@
     <arg name="input/objects" value="$(var input/radar)"/>
     <arg name="output/noise_objects" value="noise_objects"/>
     <arg name="output/filtered_objects" value="noise_filtered_objects"/>
-    <arg name="angle_threshold" value="$(var filter/angle_threshold)"/>
-    <arg name="velocity_threshold" value="$(var filter/velocity_threshold)"/>
+    <arg name="param_path" value="$(var radar_crossing_objects_noise_filter_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share object_velocity_splitter)/launch/object_velocity_splitter.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 59475afbafd92..f78cdcea10670 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -14,6 +14,7 @@
   <arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
   <arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
   <arg name="object_recognition_detection_lidar_model_param_path"/>
+  <arg name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"/>
   <arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
   <arg name="object_recognition_detection_radar_object_clustering_param_path"/>
   <arg name="object_recognition_detection_object_velocity_splitter_radar_param_path"/>
diff --git a/perception/radar_crossing_objects_noise_filter/CMakeLists.txt b/perception/radar_crossing_objects_noise_filter/CMakeLists.txt
index 81b1daabaa7ef..6f1270c656bde 100644
--- a/perception/radar_crossing_objects_noise_filter/CMakeLists.txt
+++ b/perception/radar_crossing_objects_noise_filter/CMakeLists.txt
@@ -37,4 +37,5 @@ endif()
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/perception/radar_crossing_objects_noise_filter/config/radar_crossing_objects_noise_filter.param.yaml b/perception/radar_crossing_objects_noise_filter/config/radar_crossing_objects_noise_filter.param.yaml
new file mode 100644
index 0000000000000..f52edf641fb52
--- /dev/null
+++ b/perception/radar_crossing_objects_noise_filter/config/radar_crossing_objects_noise_filter.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    angle_threshold: 1.2210
+    velocity_threshold: 1.5
diff --git a/perception/radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml b/perception/radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml
index 5c414f37a36a4..25856e12c3ba5 100644
--- a/perception/radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml
+++ b/perception/radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml
@@ -5,15 +5,13 @@
   <arg name="output/noise_objects" default="~/output/noise_objects"/>
   <arg name="output/filtered_objects" default="~/output/filtered_objects"/>
   <!-- Parameter -->
-  <arg name="angle_threshold" default="1.0472"/>
-  <arg name="velocity_threshold" default="3.0"/>
+  <arg name="param_path" default="$(find-pkg-share radar_crossing_objects_noise_filter)/config/radar_crossing_objects_noise_filter.param.yaml"/>
 
   <!-- Node -->
   <node pkg="radar_crossing_objects_noise_filter" exec="radar_crossing_objects_noise_filter_node" name="radar_crossing_objects_noise_filter" output="screen">
     <remap from="~/input/objects" to="$(var input/objects)"/>
     <remap from="~/output/noise_objects" to="$(var output/noise_objects)"/>
     <remap from="~/output/filtered_objects" to="$(var output/filtered_objects)"/>
-    <param name="angle_threshold" value="$(var angle_threshold)"/>
-    <param name="velocity_threshold" value="$(var velocity_threshold)"/>
+    <param from="$(var param_path)"/>
   </node>
 </launch>