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chore(radar_tracks_msgs_converter): add config #6213

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1 change: 1 addition & 0 deletions perception/radar_tracks_msgs_converter/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -24,5 +24,6 @@ endif()
## Package
ament_auto_package(
INSTALL_TO_SHARE
config
launch
)
Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
/**:
ros__parameters:
update_rate_hz: 20.0
use_twist_compensation: true
use_twist_yaw_compensation: false
static_object_speed_threshold: 1.0
Original file line number Diff line number Diff line change
Expand Up @@ -3,19 +3,13 @@
<arg name="input/odometry" default="/localization/kinematic_state"/>
<arg name="output/radar_detected_objects" default="output/radar_detected_objects"/>
<arg name="output/radar_tracked_objects" default="output/radar_tracked_objects"/>
<arg name="update_rate_hz" default="20.0"/>
<arg name="use_twist_compensation" default="true"/>
<arg name="use_twist_yaw_compensation" default="false"/>
<arg name="static_object_speed_threshold" default="1.0"/>
<arg name="param_path" default="$(find-pkg-share radar_tracks_msgs_converter)/config/radar_tracks_msgs_converter.param.yaml"/>

<node pkg="radar_tracks_msgs_converter" exec="radar_tracks_msgs_converter_node" name="radar_tracks_msgs_converter" output="screen">
<remap from="~/input/radar_objects" to="$(var input/radar_objects)"/>
<remap from="~/input/odometry" to="$(var input/odometry)"/>
<remap from="~/output/radar_detected_objects" to="$(var output/radar_detected_objects)"/>
<remap from="~/output/radar_tracked_objects" to="$(var output/radar_tracked_objects)"/>
<param name="update_rate_hz" value="$(var update_rate_hz)"/>
<param name="use_twist_compensation" value="$(var use_twist_compensation)"/>
<param name="use_twist_yaw_compensation" value="$(var use_twist_yaw_compensation)"/>
<param name="static_object_speed_threshold" value="$(var static_object_speed_threshold)"/>
<param from="$(var param_path)"/>
</node>
</launch>
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