add multi_object_tracker node param

Signed-off-by: yoshiri <[email protected]>
autowarefoundation · Dec 4, 2023 · 624bce3 · 624bce3
1 parent c991d2a
commit 624bce3
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Showing 2 changed files with 19 additions and 0 deletions.
diff --git a/...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # default tracker models for each class
+    car_tracker: "multi_vehicle_tracker"
+    truck_tracker: "multi_vehicle_tracker"
+    bus_tracker: "multi_vehicle_tracker"
+    trailer_tracker: "multi_vehicle_tracker"
+    pedestrian_tracker: "pedestrian_and_bicycle_tracker"
+    bicycle_tracker: "pedestrian_and_bicycle_tracker"
+    motorcycle_tracker: "pedestrian_and_bicycle_tracker"
+
+    # default tracker node parameters
+    publish_rate: 10.0
+    world_frame_id: map
+    enable_delay_compensation: false
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -81,6 +81,10 @@
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_node_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml"