From d5b7bed8dbecf18c73d0f3b1afc6d357aa15edd8 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 16 Oct 2023 17:35:59 +0900
Subject: [PATCH] fix: add 2d validator option param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../launch/obstacle_pointcloud_based_validator.launch.xml     | 1 +
 .../src/obstacle_pointcloud_based_validator.cpp               | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml b/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
index 799b605658345..d661e7db33735 100644
--- a/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
+++ b/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
@@ -11,5 +11,6 @@
     <remap from="~/output/objects" to="$(var output/objects)"/>
     <param name="enable_debugger" value="false"/>
     <param from="$(var obstacle_pointcloud_based_validator_param_path)"/>
+    <param name="using_2d_validator" value="true"/>
   </node>
 </launch>
diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
index 8994c52a44bb1..eff63face1304 100644
--- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
+++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
@@ -158,8 +158,8 @@ void ObstaclePointCloudBasedValidator::on3dObjectsAndObstaclePointCloud(
     trans_obj_position_pcl.y = transformed_object_position.y;
     trans_obj_position_pcl.z = transformed_object_position.z;
     kdtree->radiusSearch(trans_obj_position_pcl, search_radius.value(), indices, distances);
-    for (const auto & indice : indices) {
-      neighbor_pointcloud->push_back(obstacle_pointcloud->at(indice));
+    for (const auto & index : indices) {
+      neighbor_pointcloud->push_back(obstacle_pointcloud->at(index));
     }
 
     if (debugger_) debugger_->addNeighborPointcloud(neighbor_pointcloud);