From ea4f3b874cd363b5e2bd81df75c70fa6fdff9d8f Mon Sep 17 00:00:00 2001
From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com>
Date: Thu, 1 Feb 2024 10:41:42 +0900
Subject: [PATCH 1/2] refactor(map_projection_loader): rework parameters (#839)

* Added launch argument map_projection_loader_param_path to tier4_map_component.launch.xml
Copied map_projection_loader.launch.xml from universe

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 autoware_launch/config/map/map_projection_loader.param.yaml   | 4 ++++
 .../launch/components/tier4_map_component.launch.xml          | 1 +
 2 files changed, 5 insertions(+)
 create mode 100644 autoware_launch/config/map/map_projection_loader.param.yaml

diff --git a/autoware_launch/config/map/map_projection_loader.param.yaml b/autoware_launch/config/map/map_projection_loader.param.yaml
new file mode 100644
index 0000000000..6ec300309a
--- /dev/null
+++ 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/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
index 187c63b7c7..455b848c63 100644
--- 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>

From ec4491819c77dc751c06f99b5fbeb5264d4e020b Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Thu, 1 Feb 2024 13:00:35 +0900
Subject: [PATCH 2/2] fix(autoware_launch): add config file (#829)

* fix(autoware_launch): add config file

Signed-off-by: scepter914 <scepter914@gmail.com>

* style(pre-commit): autofix

---------

Signed-off-by: scepter914 <scepter914@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../radar_crossing_objects_noise_filter.param.yaml          | 4 ++++
 .../launch/components/tier4_perception_component.launch.xml | 6 +++++-
 2 files changed, 9 insertions(+), 1 deletion(-)
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml

diff --git a/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml
new file mode 100644
index 0000000000..f52edf641f
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/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_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 2940bd614e..a84911a414 100644
--- 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