From fe35f03b0c1383a0825c619c38c47e75340f0cf1 Mon Sep 17 00:00:00 2001
From: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Date: Sat, 10 Feb 2024 23:21:09 +0900
Subject: [PATCH] chore(radar_object_tracker): move radar object tracker param
 to yaml (#838)

chore: move radar object tracker param to yaml

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
---
 .../radar_object_tracker/radar_object_tracker.param.yaml      | 3 +++
 .../launch/components/tier4_perception_component.launch.xml   | 4 ----
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
index d2c0841cf3..3a1e9f02c3 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
@@ -24,3 +24,6 @@
     max_distance_from_lane: 5.0 # [m]
     max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
     max_lateral_velocity: 7.0 # [m/s]
+
+    # tracking model parameters
+    tracking_config_directory: $(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/tracking/
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 3519d5780d..3b0f8eca46 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -127,10 +127,6 @@
       name="object_recognition_tracking_radar_object_tracker_node_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml"
     />
-    <arg
-      name="object_recognition_tracking_radar_object_tracker_tracking_config_directory_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/tracking/"
-    />
     <arg
       name="object_recognition_tracking_object_merger_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml"