From c069f05944c90e16f588a83724c1835446dbcb89 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Thu, 25 Jan 2024 13:08:12 +0900
Subject: [PATCH 1/3] chore(tracking_object_merger): use config

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../config/decorative_tracker_merger.param.yaml               | 4 ++--
 .../launch/decorative_tracker_merger.launch.xml               | 4 ----
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml b/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
index 4a108be657a27..70e3892aed4aa 100644
--- a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
+++ b/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
@@ -22,5 +22,5 @@
       max_dt: 1.0
 
     # logging settings
-    enable_logging: false
-    log_file_path: "/tmp/decorative_tracker_merger.log"
+    enable_logging: true
+    log_file_path: "association_log.json"
diff --git a/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml b/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml
index 5affbe474e8ae..52b0841f97e97 100644
--- a/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml
+++ b/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml
@@ -5,8 +5,6 @@
   <arg name="output" default="merged_object"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share tracking_object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="merge_options_path" default="$(find-pkg-share tracking_object_merger)/config/decorative_tracker_merger_policy.param.yaml"/>
-  <arg name="enable_logging" default="true"/>
-  <arg name="logging_file_path" default="association_log.json"/>
   <arg name="node_param_file_path" default="$(find-pkg-share tracking_object_merger)/config/decorative_tracker_merger.param.yaml"/>
 
   <node pkg="tracking_object_merger" exec="decorative_tracker_merger" name="$(anon decorative_tracker_merger)" output="screen">
@@ -15,7 +13,5 @@
     <remap from="output/object" to="$(var output)"/>
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var node_param_file_path)"/>
-    <param name="enable_logging" value="$(var enable_logging)"/>
-    <param name="logging_file_path" value="$(var logging_file_path)"/>
   </node>
 </launch>

From 7091fef590cd806f3af62002efb8ca8ab4ce4b23 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Thu, 25 Jan 2024 13:15:09 +0900
Subject: [PATCH 2/3] fix(tracking_object_merger): fix bug and use param file

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../config/decorative_tracker_merger.param.yaml                 | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml b/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
index 70e3892aed4aa..f403311e8b107 100644
--- a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
+++ b/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
@@ -23,4 +23,4 @@
 
     # logging settings
     enable_logging: true
-    log_file_path: "association_log.json"
+    logging_file_path: "association_log.json"

From d9ead0d6dfcb986f6cf7405dba4ebf5a9c45690d Mon Sep 17 00:00:00 2001
From: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Date: Fri, 26 Jan 2024 20:31:10 +0900
Subject: [PATCH 3/3] Update
 perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml

---
 .../config/decorative_tracker_merger.param.yaml                 | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml b/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
index f403311e8b107..92a7fca229818 100644
--- a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
+++ b/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
@@ -22,5 +22,5 @@
       max_dt: 1.0
 
     # logging settings
-    enable_logging: true
+    enable_logging: false
     logging_file_path: "association_log.json"