From 2c2213af32d26194904aafb52c7025a47fd7d99a Mon Sep 17 00:00:00 2001
From: yoshiri <yoshiyoshidetteiu@gmail.com>
Date: Wed, 1 Nov 2023 12:00:14 +0900
Subject: [PATCH] add radar object clustering param path

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
---
 .../clustering/radar_object_clustering.param.yaml | 15 +++++++++++++++
 .../tier4_perception_component.launch.xml         |  4 ++++
 2 files changed, 19 insertions(+)
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml

diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml
new file mode 100644
index 0000000000..2abbf14622
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # clustering parameter
+    angle_threshold: 0.174 # [rad] (10 deg)
+    distance_threshold: 10.0 # [m]
+    velocity_threshold: 4.0 # [m/s]
+
+    # output object settings
+    # set false if you want to use the object information from radar
+    is_fixed_label: true
+    fixed_label: "CAR"
+    is_fixed_size: true
+    size_x: 4.0 # [m]
+    size_y: 1.5 # [m]
+    size_z: 1.5 # [m]
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 5959d58e18..f28907d969 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -68,6 +68,10 @@
       name="object_recognition_detection_radar_lanelet_filtering_range_param"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_radar_object_clustering_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml"
+    />  
     <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"