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fix(tracking_object_merger): fix unintended error in radar tracking merger #5328

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merged 2 commits into from
Oct 17, 2023
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fix(tracking_object_merger): fix unintended error in radar tracking merger #5328

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b666fdb
fix: fix tracking merger node
YoshiRi Oct 17, 2023
209bdf7
fix: unintended condition setting
YoshiRi Oct 17, 2023
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2 changes: 1 addition & 1 deletion .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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Expand Up @@ -411,7 +411,7 @@

<!-- Merge far_objects and near_objects in detection stage.
Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
<group if="$(var use_radar_tracking_fusion)">
<group unless="$(var use_radar_tracking_fusion)">
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="near_objects"/>
<arg name="input/object1" value="radar/far_objects"/>
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4 changes: 4 additions & 0 deletions perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp
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Expand Up @@ -27,8 +27,12 @@
#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
#include <geometry_msgs/msg/polygon.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2/convert.h>
#include <tf2/transform_datatypes.h>
#include <tf2/utils.h>

#include <cmath>
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