From 8992d05700fbb2a02901caa1c7d444ba029a9556 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Fri, 9 Feb 2024 18:08:57 +0900
Subject: [PATCH] chore(object_merger): rework parameters (#6160)

* chore(object_merger): parametrize some parameters

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* style(pre-commit): autofix

* revert priority_mode

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../detection/merger/lidar_merger.launch.xml              | 1 +
 .../config/object_association_merger.param.yaml           | 5 +++++
 .../launch/object_association_merger.launch.xml           | 8 ++++----
 3 files changed, 10 insertions(+), 4 deletions(-)
 create mode 100644 perception/object_merger/config/object_association_merger.param.yaml

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
index 6ccff44933966..0ecc89c8743e8 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
@@ -45,6 +45,7 @@
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger/input/objects)"/>
       <arg name="input/object1" value="clustering/objects"/>
+      <arg name="priority_mode" value="2"/>
       <arg name="output/object" value="$(var merger/output/objects)"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
       <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
diff --git a/perception/object_merger/config/object_association_merger.param.yaml b/perception/object_merger/config/object_association_merger.param.yaml
new file mode 100644
index 0000000000000..5e5dafad5d573
--- /dev/null
+++ b/perception/object_merger/config/object_association_merger.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    sync_queue_size: 20
+    precision_threshold_to_judge_overlapped: 0.4
+    remove_overlapped_unknown_objects: true
diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/object_merger/launch/object_association_merger.launch.xml
index 5754c256fef3c..b26788bb04667 100644
--- a/perception/object_merger/launch/object_association_merger.launch.xml
+++ b/perception/object_merger/launch/object_association_merger.launch.xml
@@ -6,7 +6,7 @@
   <arg name="priority_mode" default="2" description="0: Object0, 1: Object1, 2: Confidence"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
-  <arg name="sync_queue_size" default="20"/>
+  <arg name="object_association_merger_param_path" default="$(find-pkg-share object_merger)/config/object_association_merger.param.yaml"/>
 
   <node pkg="object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
     <remap from="input/object0" to="$(var input/object0)"/>
@@ -14,9 +14,9 @@
     <remap from="output/object" to="$(var output/object)"/>
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var distance_threshold_list_path)"/>
+    <param from="$(var object_association_merger_param_path)"/>
+
+    <!-- Be careful when moving this parameter to param.yaml, since this value depends on which part this launcher is called -->
     <param name="priority_mode" value="$(var priority_mode)"/>
-    <param name="sync_queue_size" value="$(var sync_queue_size)"/>
-    <param name="precision_threshold_to_judge_overlapped" value="0.4"/>
-    <param name="remove_overlapped_unknown_objects" value="true"/>
   </node>
 </launch>