From f8ca12887586bfe5aa6f3c12ee1645c7c20b25e3 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Thu, 1 Feb 2024 13:12:34 +0900
Subject: [PATCH] fix: add config file (#207)

* fix parameter files

Signed-off-by: scepter914 <scepter914@gmail.com>

* fix parameter files

Signed-off-by: scepter914 <scepter914@gmail.com>

* add a config file of simple_object_merger

Signed-off-by: scepter914 <scepter914@gmail.com>

* ci(pre-commit): autofix

* fix CMakeFile

Signed-off-by: scepter914 <scepter914@gmail.com>

---------

Signed-off-by: scepter914 <scepter914@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 aip_x2_launch/config/simple_object_merger.param.yaml   |  6 ++++++
 aip_x2_launch/launch/radar.launch.xml                  |  5 +----
 common_sensor_launch/CMakeLists.txt                    |  1 +
 .../config/radar_tracks_msgs_converter.param.yaml      |  6 ++++++
 .../config/radar_tracks_noise_filter.param.yaml        |  3 +++
 common_sensor_launch/launch/ars408.launch.xml          | 10 +++++-----
 6 files changed, 22 insertions(+), 9 deletions(-)
 create mode 100644 aip_x2_launch/config/simple_object_merger.param.yaml
 create mode 100644 common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml
 create mode 100644 common_sensor_launch/config/radar_tracks_noise_filter.param.yaml

diff --git a/aip_x2_launch/config/simple_object_merger.param.yaml b/aip_x2_launch/config/simple_object_merger.param.yaml
new file mode 100644
index 00000000..a817e0b7
--- /dev/null
+++ b/aip_x2_launch/config/simple_object_merger.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  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
index 73e36ecf..042e9d81 100644
--- 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>
diff --git a/common_sensor_launch/CMakeLists.txt b/common_sensor_launch/CMakeLists.txt
index 0b3dcbd5..60a50fc2 100644
--- a/common_sensor_launch/CMakeLists.txt
+++ b/common_sensor_launch/CMakeLists.txt
@@ -10,5 +10,6 @@ if(BUILD_TESTING)
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE
+  config
   launch
 )
diff --git a/common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml b/common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml
new file mode 100644
index 00000000..5a30a6bb
--- /dev/null
+++ b/common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    update_rate_hz: 20.0
+    use_twist_compensation: true
+    use_twist_yaw_compensation: false
+    static_object_speed_threshold: 1.0
diff --git a/common_sensor_launch/config/radar_tracks_noise_filter.param.yaml b/common_sensor_launch/config/radar_tracks_noise_filter.param.yaml
new file mode 100644
index 00000000..0d7ddd34
--- /dev/null
+++ b/common_sensor_launch/config/radar_tracks_noise_filter.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    velocity_y_threshold: 7.0
diff --git a/common_sensor_launch/launch/ars408.launch.xml b/common_sensor_launch/launch/ars408.launch.xml
index 0ba70569..19451736 100644
--- a/common_sensor_launch/launch/ars408.launch.xml
+++ b/common_sensor_launch/launch/ars408.launch.xml
@@ -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="$(var launch_driver)">
@@ -43,7 +44,7 @@
     <arg name="input/tracks" value="objects_raw"/>
     <arg name="output/noise_tracks" value="noise_objects" />
     <arg name="output/filtered_tracks" value="filtered_objects" />
-    <arg name="velocity_y_threshold" value="$(var velocity_y_threshold)" />
+    <arg name="param_path" value="$(var radar_tracks_noise_filter_param_path)"/>
   </include>
 
   <!-- Message converter -->
@@ -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>