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fix: add config file #207

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Feb 1, 2024
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add a config file of simple_object_merger
Signed-off-by: scepter914 <scepter914@gmail.com>
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scepter914 committed Jan 29, 2024
commit 082e10e8b3ce3204a97363a4851aa1bd69f7155d
7 changes: 7 additions & 0 deletions aip_x2_launch/config/simple_object_merger.param.yaml
Original file line number Diff line number Diff line change
@@ -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"]

5 changes: 1 addition & 4 deletions aip_x2_launch/launch/radar.launch.xml
Original file line number Diff line number Diff line change
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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