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fix: add config file (#207)
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* fix parameter files

Signed-off-by: scepter914 <[email protected]>

* fix parameter files

Signed-off-by: scepter914 <[email protected]>

* add a config file of simple_object_merger

Signed-off-by: scepter914 <[email protected]>

* ci(pre-commit): autofix

* fix CMakeFile

Signed-off-by: scepter914 <[email protected]>

---------

Signed-off-by: scepter914 <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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2 people authored and yuki-takagi-66 committed Feb 21, 2024
1 parent b985180 commit f8ca128
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Showing 6 changed files with 22 additions and 9 deletions.
6 changes: 6 additions & 0 deletions aip_x2_launch/config/simple_object_merger.param.yaml
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/**:
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"]
5 changes: 1 addition & 4 deletions aip_x2_launch/launch/radar.launch.xml
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Expand Up @@ -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>
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1 change: 1 addition & 0 deletions common_sensor_launch/CMakeLists.txt
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Expand Up @@ -10,5 +10,6 @@ if(BUILD_TESTING)
endif()

ament_auto_package(INSTALL_TO_SHARE
config
launch
)
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/**:
ros__parameters:
update_rate_hz: 20.0
use_twist_compensation: true
use_twist_yaw_compensation: false
static_object_speed_threshold: 1.0
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/**:
ros__parameters:
velocity_y_threshold: 7.0
10 changes: 5 additions & 5 deletions common_sensor_launch/launch/ars408.launch.xml
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Expand Up @@ -11,10 +11,11 @@
<arg name="publish_radar_scan" default="false" />
<arg name="size_x" default="1.8" />
<arg name="size_y" default="1.8" />
<!-- noise filter parameter -->
<arg name="velocity_y_threshold" default="7.0" />
<!-- converter parameter -->
<arg name="input/odometry" default="/localization/kinematic_state" />
<!-- parameter path -->
<arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>
<arg name="radar_tracks_noise_filter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_noise_filter.param.yaml"/>

<!-- Socket CAN -->
<group if="$(var launch_driver)">
Expand Down Expand Up @@ -43,7 +44,7 @@
<arg name="input/tracks" value="objects_raw"/>
<arg name="output/noise_tracks" value="noise_objects" />
<arg name="output/filtered_tracks" value="filtered_objects" />
<arg name="velocity_y_threshold" value="$(var velocity_y_threshold)" />
<arg name="param_path" value="$(var radar_tracks_noise_filter_param_path)"/>
</include>

<!-- Message converter -->
Expand All @@ -52,7 +53,6 @@
<arg name="input/odometry" value="$(var input/odometry)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="update_rate_hz" value="10.0"/>
<arg name="use_twist_compensation" value="true"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</launch>

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