From 92eaaf618c093c47655600c975ab457e89ae65ef Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Fri, 26 Jan 2024 21:47:48 +0900
Subject: [PATCH] chore(cluster_merger): rework parameters (#6165)

chore(cluster_merger): organize parameter

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
---
 perception/cluster_merger/CMakeLists.txt                   | 1 +
 perception/cluster_merger/config/cluster_merger.param.yaml | 3 +++
 perception/cluster_merger/launch/cluster_merger.launch.xml | 4 ++--
 3 files changed, 6 insertions(+), 2 deletions(-)
 create mode 100644 perception/cluster_merger/config/cluster_merger.param.yaml

diff --git a/perception/cluster_merger/CMakeLists.txt b/perception/cluster_merger/CMakeLists.txt
index 49506f4b439fb..5ad0de572b44f 100644
--- a/perception/cluster_merger/CMakeLists.txt
+++ b/perception/cluster_merger/CMakeLists.txt
@@ -24,4 +24,5 @@ endif()
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/perception/cluster_merger/config/cluster_merger.param.yaml b/perception/cluster_merger/config/cluster_merger.param.yaml
new file mode 100644
index 0000000000000..adca6c203282f
--- /dev/null
+++ b/perception/cluster_merger/config/cluster_merger.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    output_frame_id: "base_link"
diff --git a/perception/cluster_merger/launch/cluster_merger.launch.xml b/perception/cluster_merger/launch/cluster_merger.launch.xml
index 1bbd0ebd91e12..f0f90efe051a0 100644
--- a/perception/cluster_merger/launch/cluster_merger.launch.xml
+++ b/perception/cluster_merger/launch/cluster_merger.launch.xml
@@ -3,12 +3,12 @@
   <arg name="output/clusters" default="output/clusters"/>
   <arg name="input/cluster0" default="input/cluster0"/>
   <arg name="input/cluster1" default="input/cluster1"/>
-  <arg name="output_frame_id" default="base_link"/>
+  <arg name="param_path" default="$(find-pkg-share cluster_merger)/config/cluster_merger.param.yaml"/>
   <!-- Node -->
   <node pkg="cluster_merger" exec="cluster_merger_node" name="cluster_merger" output="screen">
     <remap from="~/output/clusters" to="$(var output/clusters)"/>
     <remap from="input/cluster0" to="$(var input/cluster0)"/>
     <remap from="input/cluster1" to="$(var input/cluster1)"/>
-    <param name="output_frame_id" value="$(var output_frame_id)"/>
+    <param from="$(var param_path)"/>
   </node>
 </launch>