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chore(simple_object_merger): add config #6212

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merged 10 commits into from
Feb 1, 2024
Merged

chore(simple_object_merger): add config #6212

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16a4335
chore(simple_object_merger): add config
scepter914 Jan 29, 2024
5a04dd5
fix typo
scepter914 Jan 29, 2024
fc2bead
fix config
scepter914 Jan 29, 2024
0ca8ed4
refactor
scepter914 Jan 29, 2024
52462ed
merge main branch
scepter914 Jan 29, 2024
d3b3bdd
apply pre-commit
scepter914 Jan 29, 2024
d935a03
merge main branch
scepter914 Jan 29, 2024
14581b4
Merge branch 'main' into chore/simple_object_merger_config
scepter914 Jan 29, 2024
49a2c88
style(pre-commit): autofix
pre-commit-ci[bot] Jan 29, 2024
b9d2587
Merge branch 'main' into chore/simple_object_merger_config
scepter914 Jan 30, 2024
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1 change: 1 addition & 0 deletions perception/simple_object_merger/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -25,5 +25,6 @@ endif()
# Package
ament_auto_package(
INSTALL_TO_SHARE
config
launch
)
16 changes: 15 additions & 1 deletion perception/simple_object_merger/README.md
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Expand Up @@ -72,5 +72,19 @@ If the time difference between the first topic of `input_topics` and an input to
- Default parameter: "[]"

This parameter is the name of input topics.
For example, when this packages use for radar objects, `"[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/rear_left/detected_objects, /sensing/radar/rear_center/detected_objects, /sensing/radar/rear_right/detected_objects, /sensing/radar/front_right/detected_objects]"` can be set.
For example, when this packages use for radar objects,

```yaml
input_topics:
[
"/sensing/radar/front_center/detected_objects",
"/sensing/radar/front_left/detected_objects",
"/sensing/radar/rear_left/detected_objects",
"/sensing/radar/rear_center/detected_objects",
"/sensing/radar/rear_right/detected_objects",
"/sensing/radar/front_right/detected_objects",
]
```

can be set in config yaml file.
For now, the time difference is calculated by the header time between the first topic of `input_topics` and the input topics, so the most important objects to detect should be set in the first of `input_topics` list.
6 changes: 6 additions & 0 deletions perception/simple_object_merger/config/simple_object_merger.param.yaml
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@@ -0,0 +1,6 @@
/**:
ros__parameters:
update_rate_hz: 20.0
new_frame_id: "base_link"
timeout_threshold: 1.0
input_topics: [""]
13 changes: 2 additions & 11 deletions perception/simple_object_merger/launch/simple_object_merger.launch.xml
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@@ -1,18 +1,9 @@
<launch>
<!-- Output -->
<arg name="output/objects" default="~/output/objects"/>
<!-- Parameter -->
<arg name="update_rate_hz" default="20.0"/>
<arg name="new_frame_id" default="base_link"/>
<arg name="timeout_threshold" default="0.1"/>
<arg name="input_topics" default="[]"/>
<arg name="param_path" default="$(find-pkg-share simple_object_merger)/config/simple_object_merger.param.yaml"/>

<!-- Node -->
<node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
<remap from="~/output/objects" to="$(var output/objects)"/>
<param name="update_rate_hz" value="$(var update_rate_hz)"/>
<param name="timeout_threshold" value="$(var timeout_threshold)"/>
<param name="new_frame_id" value="$(var new_frame_id)"/>
<param name="input_topics" value="$(var input_topics)"/>
<param from="$(var param_path)"/>
</node>
</launch>
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