From d9ee5612e1b1dbcb30d0b0eabc2b1092f82000e8 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 27 Aug 2024 09:34:44 +0900 Subject: [PATCH] feat(occupancy_grid_based_outlier_fillter): add config file to autoware_launch (#1137) * feat: add config file Signed-off-by: yoshiri * style(pre-commit): autofix --------- Signed-off-by: yoshiri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../occupancy_grid_based_outlier_filter.param.yaml | 12 ++++++++++++ 1 file changed, 12 insertions(+) create mode 100644 autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_based_outlier_filter.param.yaml diff --git a/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_based_outlier_filter.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_based_outlier_filter.param.yaml new file mode 100644 index 0000000000..5cf5619627 --- /dev/null +++ b/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_based_outlier_filter.param.yaml @@ -0,0 +1,12 @@ +/**: + ros__parameters: + radius_search_2d_filter.search_radius: 1.0f + radius_search_2d_filter.min_points_and_distance_ratio: 400.0f + radius_search_2d_filter.min_points: 4 + radius_search_2d_filter.max_points: 70 + radius_search_2d_filter.max_filter_points_nb: 15000 + map_frame: "map" + base_link_frame: "base_link" + cost_threshold: 45 + use_radius_search_2d_filter: true + enable_debugger: false