From 9ba76c60409422604f857b59ccf103e4bca96cb0 Mon Sep 17 00:00:00 2001
From: Yamato Ando <yamato.ando@gmail.com>
Date: Mon, 29 Jan 2024 16:25:18 +0900
Subject: [PATCH 1/3] refactor(ndt_scan_matcher): rename de-grounded (#827)

* refactor(ndt_scan_matcher): rename de-grounded

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* fix value

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

---------

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
---
 .../config/localization/ndt_scan_matcher.param.yaml          | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index a5a4941bfe..d4c49b7e8e 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -95,9 +95,8 @@
     # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
     lidar_radius: 100.0
 
-    # cspell: ignore degrounded
-    # A flag for using scan matching score based on de-grounded LiDAR scan
-    estimate_scores_for_degrounded_scan: false
+    # A flag for using scan matching score based on no ground LiDAR scan
+    estimate_scores_by_no_ground_points: false
 
     # If lidar_point.z - base_link.z <= this threshold , the point will be removed
     z_margin_for_ground_removal: 0.8

From 7cf64d8b9efedf684a3de1c4655d1cf80b8e4e9b Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Mon, 29 Jan 2024 17:16:45 +0900
Subject: [PATCH 2/3] fix(tracking_object_merger): fix bug and rework
 parameters (#823)

fix(tracking_object_merger): fix bug and use param file

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../tracking_object_merger/decorative_tracker_merger.param.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
index 13369d5422..e4ea2becd7 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
@@ -23,4 +23,4 @@
 
     # logging
     enable_logging: false
-    log_file_path: "/tmp/decorative_tracker_merger.log"
+    logging_file_path: "/tmp/decorative_tracker_merger.log"

From 864b9270979a07ba65cd5e054854b3554fe33440 Mon Sep 17 00:00:00 2001
From: Yamato Ando <yamato.ando@gmail.com>
Date: Tue, 30 Jan 2024 16:02:40 +0900
Subject: [PATCH 3/3] refactor(tier4_map_lcomponent): use map.launch.xml
 instead of map.launch.py (#826)

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
---
 .../launch/components/tier4_map_component.launch.xml        | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
index 3062a6cedd..187c63b7c7 100644
--- a/autoware_launch/launch/components/tier4_map_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -1,8 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
-    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.xml">
     <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+    <arg name="pointcloud_map_metadata_path" value="$(var map_path)/pointcloud_map_metadata.yaml"/>
+    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+    <arg name="map_projector_info_path" value="$(var map_path)/map_projector_info.yaml"/>
 
     <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"/>