From 47113d7070025579bbe013129835f5d9a1370302 Mon Sep 17 00:00:00 2001
From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>
Date: Wed, 21 Aug 2024 05:25:38 +0900
Subject: [PATCH] fix(ground_segmentation): missing default parameters ERROR
 (#8538)

fix(ground_segmentation): remove unused params

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../config/ground_segmentation.param.yaml      | 15 ---------------
 .../launch/scan_ground_filter.launch.py        | 18 ++++++++++++------
 2 files changed, 12 insertions(+), 21 deletions(-)

diff --git a/perception/autoware_ground_segmentation/config/ground_segmentation.param.yaml b/perception/autoware_ground_segmentation/config/ground_segmentation.param.yaml
index ca077941f0185..304dcc8990fe2 100644
--- a/perception/autoware_ground_segmentation/config/ground_segmentation.param.yaml
+++ b/perception/autoware_ground_segmentation/config/ground_segmentation.param.yaml
@@ -1,20 +1,5 @@
 /**:
   ros__parameters:
-    additional_lidars: []
-    ransac_input_topics: []
-    use_single_frame_filter: False
-    use_time_series_filter: True
-
-    common_crop_box_filter:
-      parameters:
-        min_x: -50.0
-        max_x: 100.0
-        min_y: -50.0
-        max_y: 50.0
-        max_z: 2.5  # recommended 2.5 for non elevation_grid_mode
-        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
-        negative: False
-
     common_ground_filter:
       plugin: "autoware::ground_segmentation::ScanGroundFilterComponent"
       parameters:
diff --git a/perception/autoware_ground_segmentation/launch/scan_ground_filter.launch.py b/perception/autoware_ground_segmentation/launch/scan_ground_filter.launch.py
index 6c85fb9302fdc..977ffaf530125 100644
--- a/perception/autoware_ground_segmentation/launch/scan_ground_filter.launch.py
+++ b/perception/autoware_ground_segmentation/launch/scan_ground_filter.launch.py
@@ -33,6 +33,15 @@ def launch_setup(context, *args, **kwargs):
     with open(vehicle_info_param_path, "r") as f:
         vehicle_info_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
+    ground_segmentation_param_path = os.path.join(
+        get_package_share_directory("autoware_ground_segmentation"),
+        "config",
+        "ground_segmentation.param.yaml",
+    )
+
+    with open(ground_segmentation_param_path, "r") as f:
+        ground_segmentation_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+
     nodes = [
         ComposableNode(
             package="autoware_ground_segmentation",
@@ -43,12 +52,9 @@ def launch_setup(context, *args, **kwargs):
                 ("output", LaunchConfiguration("output/pointcloud")),
             ],
             parameters=[
-                {
-                    "global_slope_max_angle_deg": 10.0,
-                    "local_slope_max_angle_deg": 30.0,
-                    "split_points_distance_tolerance": 0.2,
-                    "split_height_distance": 0.2,
-                },
+                ground_segmentation_param["common_ground_filter"]["parameters"],
+                {"input_frame": "base_link"},
+                {"output_frame": "base_link"},
                 vehicle_info_param,
             ],
         ),