From 9b272b9b0c6f9c6076260982e9b3840357e00e67 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Wed, 24 Jan 2024 17:50:11 +0900
Subject: [PATCH 1/4] chore(object_velocity_splitter): add param file

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 perception/object_velocity_splitter/CMakeLists.txt            | 1 +
 .../config/object_velocity_splitter.param.yaml                | 3 +++
 .../launch/object_velocity_splitter.launch.xml                | 4 ++--
 3 files changed, 6 insertions(+), 2 deletions(-)
 create mode 100644 perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml

diff --git a/perception/object_velocity_splitter/CMakeLists.txt b/perception/object_velocity_splitter/CMakeLists.txt
index bcc56f522f0a8..0bf6de39f8f3c 100644
--- a/perception/object_velocity_splitter/CMakeLists.txt
+++ b/perception/object_velocity_splitter/CMakeLists.txt
@@ -37,4 +37,5 @@ endif()
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml b/perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml
new file mode 100644
index 0000000000000..adac831aa402c
--- /dev/null
+++ b/perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    velocity_threshold: 3.0
diff --git a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml b/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
index 42d7f3d61f386..4add88c873476 100644
--- a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
+++ b/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
@@ -5,13 +5,13 @@
   <arg name="output/low_speed_objects" default="~/output/low_speed_objects"/>
   <arg name="output/high_speed_objects" default="~/output/high_speed_objects"/>
   <!-- Parameter -->
-  <arg name="velocity_threshold" default="3.0"/>
+  <arg name="config_path" default="$(find-pkg-share object_velocity_splitter)/config/object_velocity_splitter.param.yaml"/>
 
   <!-- Node -->
   <node pkg="object_velocity_splitter" exec="object_velocity_splitter_node" name="object_velocity_splitter" output="screen">
     <remap from="~/input/objects" to="$(var input/objects)"/>
     <remap from="~/output/low_speed_objects" to="$(var output/low_speed_objects)"/>
     <remap from="~/output/high_speed_objects" to="$(var output/high_speed_objects)"/>
-    <param name="velocity_threshold" value="$(var velocity_threshold)"/>
+    <param from="config_path"/>
   </node>
 </launch>

From 70113a2086b12e179c5cfd14334e6fcbd92168e3 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Wed, 24 Jan 2024 17:58:11 +0900
Subject: [PATCH 2/4] fix

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/object_velocity_splitter.launch.xml                  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml b/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
index 4add88c873476..7c9653428292b 100644
--- a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
+++ b/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
@@ -12,6 +12,6 @@
     <remap from="~/input/objects" to="$(var input/objects)"/>
     <remap from="~/output/low_speed_objects" to="$(var output/low_speed_objects)"/>
     <remap from="~/output/high_speed_objects" to="$(var output/high_speed_objects)"/>
-    <param from="config_path"/>
+    <param from="$(var config_path)"/>
   </node>
 </launch>

From 52db9888f28cbecb7c28fc2a0a9da5707542afee Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Thu, 25 Jan 2024 10:20:02 +0900
Subject: [PATCH 3/4] fix arg name

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/object_velocity_splitter.launch.xml                | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml b/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
index 7c9653428292b..8ab654d4907a4 100644
--- a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
+++ b/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
@@ -5,13 +5,13 @@
   <arg name="output/low_speed_objects" default="~/output/low_speed_objects"/>
   <arg name="output/high_speed_objects" default="~/output/high_speed_objects"/>
   <!-- Parameter -->
-  <arg name="config_path" default="$(find-pkg-share object_velocity_splitter)/config/object_velocity_splitter.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share object_velocity_splitter)/config/object_velocity_splitter.param.yaml"/>
 
   <!-- Node -->
   <node pkg="object_velocity_splitter" exec="object_velocity_splitter_node" name="object_velocity_splitter" output="screen">
     <remap from="~/input/objects" to="$(var input/objects)"/>
     <remap from="~/output/low_speed_objects" to="$(var output/low_speed_objects)"/>
     <remap from="~/output/high_speed_objects" to="$(var output/high_speed_objects)"/>
-    <param from="$(var config_path)"/>
+    <param from="$(var param_path)"/>
   </node>
 </launch>

From 6ae63161bea2cf071da9ae72d6284a53e915e716 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Thu, 25 Jan 2024 10:34:31 +0900
Subject: [PATCH 4/4] fix: update launch param handling

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../camera_lidar_radar_fusion_based_detection.launch.xml      | 2 +-
 .../detection/lidar_radar_based_detection.launch.xml          | 2 +-
 .../detection/radar_based_detection.launch.xml                | 4 ++--
 launch/tier4_perception_launch/launch/perception.launch.xml   | 2 ++
 4 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index ba86bc1e334ff..a035e1499e123 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -77,8 +77,8 @@
       <arg name="output/objects" value="far_objects"/>
       <arg name="filter/angle_threshold" value="1.0472"/>
       <arg name="filter/velocity_threshold" value="3.0"/>
-      <arg name="split/velocity_threshold" value="4.5"/>
       <arg name="split_range" value="70.0"/>
+      <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
       <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
index adedc2312677f..b6e0358172d7e 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -36,8 +36,8 @@
       <arg name="output/objects" value="far_objects"/>
       <arg name="filter/angle_threshold" value="1.0472"/>
       <arg name="filter/velocity_threshold" value="3.0"/>
-      <arg name="split/velocity_threshold" value="4.5"/>
       <arg name="split_range" value="70.0"/>
+      <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
       <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
index 26e7af07646cd..d317cd5590984 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
@@ -4,7 +4,7 @@
   <arg name="output/objects" default="far_objects"/>
   <arg name="filter/angle_threshold" default="1.221"/>
   <arg name="filter/velocity_threshold" default="1.5"/>
-  <arg name="split/velocity_threshold" default="5.5"/>
+  <arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
   <arg name="split_range" default="80.0"/>
   <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
@@ -22,7 +22,7 @@
     <arg name="input/objects" value="noise_filtered_objects"/>
     <arg name="output/low_speed_objects" value="low_speed_objects"/>
     <arg name="output/high_speed_objects" value="high_speed_objects"/>
-    <arg name="velocity_threshold" value="$(var split/velocity_threshold)"/>
+    <arg name="param_path" value="$(var object_velocity_splitter_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 528038c5158b2..3bd3aff10a4e4 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -16,6 +16,8 @@
   <arg name="object_recognition_detection_lidar_model_param_path"/>
   <arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
   <arg name="object_recognition_detection_radar_object_clustering_param_path"/>
+  <arg name="object_recognition_detection_object_velocity_splitter_radar_param_path"/>
+  <arg name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_node_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"/>