chore(object_velocity_splitter): rework parameters (#6158)

* chore(object_velocity_splitter): add param file Signed-off-by: kminoda <[email protected]> * fix Signed-off-by: kminoda <[email protected]> * fix arg name Signed-off-by: kminoda <[email protected]> * fix: update launch param handling Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]>
autowarefoundation · Jan 31, 2024 · 17a3070 · 17a3070
1 parent debe198
commit 17a3070
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Showing 6 changed files with 13 additions and 5 deletions.
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
@@ -77,7 +77,7 @@
         <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="split/velocity_threshold" value="4.5"/>
+        <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="$(var radar_lanelet_filtering_range_param)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
@@ -177,6 +177,7 @@
       <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="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="$(var radar_lanelet_filtering_range_param)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
@@ -237,6 +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="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="$(var radar_lanelet_filtering_range_param)"/>
       <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>

diff --git a/..._perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml b/..._perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
@@ -4,7 +4,7 @@
   <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="split/velocity_threshold" default="5.5"/>
+  <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="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
@@ -22,7 +22,7 @@
     <arg name="input/objects" value="noise_filtered_objects"/>
     <arg name="output/low_speed_objects" value="low_speed_objects"/>
     <arg name="output/high_speed_objects" value="high_speed_objects"/>
-    <arg name="velocity_threshold" value="$(var split/velocity_threshold)"/>
+    <arg name="param_path" value="$(var object_velocity_splitter_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -16,6 +16,8 @@
   <arg name="object_recognition_detection_lidar_model_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"/>
+  <arg name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"/>
   <arg name="object_recognition_detection_object_range_splitter_radar_param_path"/>
   <arg name="object_recognition_detection_object_range_splitter_radar_fusion_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>

diff --git a/perception/object_velocity_splitter/CMakeLists.txt b/perception/object_velocity_splitter/CMakeLists.txt
@@ -37,4 +37,5 @@ endif()
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml b/perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    velocity_threshold: 3.0
diff --git a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml b/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
@@ -5,13 +5,13 @@
   <arg name="output/low_speed_objects" default="~/output/low_speed_objects"/>
   <arg name="output/high_speed_objects" default="~/output/high_speed_objects"/>
   <!-- Parameter -->
-  <arg name="velocity_threshold" default="3.0"/>
+  <arg name="param_path" default="$(find-pkg-share object_velocity_splitter)/config/object_velocity_splitter.param.yaml"/>
 
   <!-- Node -->
   <node pkg="object_velocity_splitter" exec="object_velocity_splitter_node" name="object_velocity_splitter" output="screen">
     <remap from="~/input/objects" to="$(var input/objects)"/>
     <remap from="~/output/low_speed_objects" to="$(var output/low_speed_objects)"/>
     <remap from="~/output/high_speed_objects" to="$(var output/high_speed_objects)"/>
-    <param name="velocity_threshold" value="$(var velocity_threshold)"/>
+    <param from="$(var param_path)"/>
   </node>
 </launch>
-Original file line number
+Diff line change
@@ Expand Up / @@ -37,4 +37,5 @@ endif() @@
     ament_auto_package(
       INSTALL_TO_SHARE
       launch
+      config
     )