Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix: add config file #207

Merged
merged 7 commits into from
Feb 1, 2024
Merged

fix: add config file #207

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
933772a
fix parameter files
scepter914 Jan 28, 2024
8e69eae
fix parameter files
scepter914 Jan 28, 2024
082e10e
add a config file of simple_object_merger
scepter914 Jan 29, 2024
ef97e34
ci(pre-commit): autofix
pre-commit-ci[bot] Jan 29, 2024
b7335d3
Merge branch 'tier4/universe' into fix/perception_parameter_config
scepter914 Jan 30, 2024
8e8dc7d
fix CMakeFile
scepter914 Feb 1, 2024
b497a29
Merge branch 'fix/perception_parameter_config' of github.com:tier4/ai…
scepter914 Feb 1, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 6 additions & 0 deletions aip_x2_launch/config/simple_object_merger.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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"]
5 changes: 1 addition & 4 deletions aip_x2_launch/launch/radar.launch.xml
View file
Open in desktop
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>
Expand Down
1 change: 1 addition & 0 deletions common_sensor_launch/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,5 +10,6 @@ if(BUILD_TESTING)
endif()

ament_auto_package(INSTALL_TO_SHARE
config
launch
)
6 changes: 6 additions & 0 deletions common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
/**:
kminoda marked this conversation as resolved.
Show resolved Hide resolved
ros__parameters:
update_rate_hz: 20.0
use_twist_compensation: true
use_twist_yaw_compensation: false
static_object_speed_threshold: 1.0
3 changes: 3 additions & 0 deletions common_sensor_launch/config/radar_tracks_noise_filter.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
/**:
ros__parameters:
velocity_y_threshold: 7.0
10 changes: 5 additions & 5 deletions common_sensor_launch/launch/ars408.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
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>
Loading