Merge branch 'main' into chore/add_json_schema_to_twist2accel

autowarefoundation · Feb 1, 2024 · 46b386e · 46b386e
2 parents e915416 + ec44918
commit 46b386e
Show file tree

Hide file tree

Showing 4 changed files with 14 additions and 1 deletion.
diff --git a/autoware_launch/config/map/map_projection_loader.param.yaml b/autoware_launch/config/map/map_projection_loader.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    map_projector_info_path: $(var map_projector_info_path)
+    lanelet2_map_path: $(var lanelet2_map_path)
diff --git a/...ection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml b/...ection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    angle_threshold: 1.2210
+    velocity_threshold: 1.5
diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -8,5 +8,6 @@
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
     <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
+    <arg name="map_projection_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/map_projection_loader.param.yaml"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -80,7 +80,11 @@
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml"
     />
     <arg
-      name="object_recognition_detection_radar_lanelet_filtering_range_param"
+      name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_radar_lanelet_filtering_range_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml"
     />
     <arg