chore(traffic_light_multi_camera_fusion): read parameters from yaml f…

…ile (#1331) * chore(traffic_light_multi_camera_fusion): read parameters from yaml file Signed-off-by: Tomohito Ando <[email protected]> * style(pre-commit): autofix * remove camera namespace parameter from config file Signed-off-by: Tomohito Ando <[email protected]> --------- Signed-off-by: Tomohito Ando <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Feb 19, 2025 · 83263b2 · 83263b2
1 parent caed5fd
commit 83263b2
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diff --git a/...perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml b/...perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    message_lifespan: 0.09
+    approximate_sync: false
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -193,6 +193,10 @@
 
     <!-- traffic light recognition parameters -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
+    <arg
+      name="traffic_light_multi_camera_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml"
+    />
     <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
     <arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>
     <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>