add a config file of simple_object_merger

Signed-off-by: scepter914 <[email protected]>
tier4 · Jan 29, 2024 · 082e10e · 082e10e
1 parent 8e69eae
commit 082e10e
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/aip_x2_launch/config/simple_object_merger.param.yaml b/aip_x2_launch/config/simple_object_merger.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    update_rate_hz: 20.0
+    new_frame_id: "base_link"
+    timeout_threshold: 1.0
+    input_topics: ["/sensing/radar/front_center/detected_objects", "/sensing/radar/front_left/detected_objects", "/sensing/radar/rear_left/detected_objects", "/sensing/radar/rear_center/detected_objects", "/sensing/radar/rear_right/detected_objects", "/sensing/radar/front_right/detected_objects"]
+
diff --git a/aip_x2_launch/launch/radar.launch.xml b/aip_x2_launch/launch/radar.launch.xml
@@ -61,10 +61,7 @@
 
     <include file="$(find-pkg-share simple_object_merger)/launch/simple_object_merger.launch.xml">
       <arg name="output/objects" value="detected_objects"/>
-      <arg name="update_rate_hz" value="20.0"/>
-      <arg name="new_frame_id" value="base_link"/>
-      <arg name="timeout_threshold" value="1.0"/>
-      <arg name="input_topics" value="[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/rear_left/detected_objects, /sensing/radar/rear_center/detected_objects, /sensing/radar/rear_right/detected_objects, /sensing/radar/front_right/detected_objects]"/>
+      <arg name="param_path" value="$(find-pkg-share aip_x2_launch)/config/simple_object_merger.param.yaml"/>
     </include>
 
   </group>