From bfed5bdfb1ec1b658be27f15fde3232745c2d785 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Mon, 29 Jan 2024 17:17:26 +0900
Subject: [PATCH] fix(tracking_object_merger): fix bug and rework parameters
 (#6168)

* chore(tracking_object_merger): use config

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(tracking_object_merger): fix bug and use param file

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* Update perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
---
 .../config/decorative_tracker_merger.param.yaml               | 2 +-
 .../launch/decorative_tracker_merger.launch.xml               | 4 ----
 2 files changed, 1 insertion(+), 5 deletions(-)

diff --git a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml b/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
index 4a108be657a27..92a7fca229818 100644
--- a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
+++ b/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml
@@ -23,4 +23,4 @@
 
     # logging settings
     enable_logging: false
-    log_file_path: "/tmp/decorative_tracker_merger.log"
+    logging_file_path: "association_log.json"
diff --git a/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml b/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml
index 5affbe474e8ae..52b0841f97e97 100644
--- a/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml
+++ b/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml
@@ -5,8 +5,6 @@
   <arg name="output" default="merged_object"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share tracking_object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="merge_options_path" default="$(find-pkg-share tracking_object_merger)/config/decorative_tracker_merger_policy.param.yaml"/>
-  <arg name="enable_logging" default="true"/>
-  <arg name="logging_file_path" default="association_log.json"/>
   <arg name="node_param_file_path" default="$(find-pkg-share tracking_object_merger)/config/decorative_tracker_merger.param.yaml"/>
 
   <node pkg="tracking_object_merger" exec="decorative_tracker_merger" name="$(anon decorative_tracker_merger)" output="screen">
@@ -15,7 +13,5 @@
     <remap from="output/object" to="$(var output)"/>
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var node_param_file_path)"/>
-    <param name="enable_logging" value="$(var enable_logging)"/>
-    <param name="logging_file_path" value="$(var logging_file_path)"/>
   </node>
 </launch>