From 8b96b017062cf2c92ece194d7817816c05b743ca Mon Sep 17 00:00:00 2001
From: yoshiri <yoshiyoshidetteiu@gmail.com>
Date: Wed, 31 Jan 2024 16:44:28 +0900
Subject: [PATCH] chore: move tracker config directory to parameter yaml

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
---
 .../config/radar_object_tracker.param.yaml                     | 3 +++
 .../launch/radar_object_tracker.launch.xml                     | 2 --
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/perception/radar_object_tracker/config/radar_object_tracker.param.yaml b/perception/radar_object_tracker/config/radar_object_tracker.param.yaml
index d2c0841cf372e..2fe006ffe8394 100644
--- a/perception/radar_object_tracker/config/radar_object_tracker.param.yaml
+++ b/perception/radar_object_tracker/config/radar_object_tracker.param.yaml
@@ -24,3 +24,6 @@
     max_distance_from_lane: 5.0 # [m]
     max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
     max_lateral_velocity: 7.0 # [m/s]
+
+    # tracking model parameters
+    tracking_config_directory: $(find-pkg-share radar_object_tracker)/config/tracking/
diff --git a/perception/radar_object_tracker/launch/radar_object_tracker.launch.xml b/perception/radar_object_tracker/launch/radar_object_tracker.launch.xml
index 60ed2efb5767b..727d66e864b97 100644
--- a/perception/radar_object_tracker/launch/radar_object_tracker.launch.xml
+++ b/perception/radar_object_tracker/launch/radar_object_tracker.launch.xml
@@ -3,7 +3,6 @@
   <arg name="input" default="/perception/object_recognition/detection/objects"/>
   <arg name="output" default="objects"/>
   <arg name="tracker_setting_path" default="$(find-pkg-share radar_object_tracker)/config/default_tracker.param.yaml"/>
-  <arg name="tracking_config_directory" default="$(find-pkg-share radar_object_tracker)/config/tracking/"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share radar_object_tracker)/config/data_association_matrix.param.yaml"/>
   <arg name="radar_object_tracker_param_path" default="$(find-pkg-share radar_object_tracker)/config/radar_object_tracker.param.yaml"/>
   <arg name="vector_map_topic" default="/map/vector_map"/>
@@ -15,6 +14,5 @@
     <param from="$(var tracker_setting_path)"/>
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var radar_object_tracker_param_path)"/>
-    <param name="tracking_config_directory" value="$(var tracking_config_directory)"/>
   </node>
 </launch>