From 34848af31ac35512e391f4be05bc44c4fb9cb5fa Mon Sep 17 00:00:00 2001
From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com>
Date: Fri, 30 Aug 2024 16:55:12 +0900
Subject: [PATCH] chore(stop_filter): extract stop_filter.param.yaml to
 autoware_launch (#8681)

Extract stop_filter.param.yaml to autoware_launch

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
---
 launch/tier4_localization_launch/launch/localization.launch.xml  | 1 +
 .../pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml | 1 +
 2 files changed, 2 insertions(+)

diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
index cfc09459a5cb1..e75e42da346ad 100644
--- a/launch/tier4_localization_launch/launch/localization.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -14,6 +14,7 @@
   <!-- Parameter files -->
   <arg name="localization_error_monitor_param_path"/>
   <arg name="ekf_localizer_param_path"/>
+  <arg name="stop_filter_param_path"/>
   <arg name="pose_initializer_param_path"/>
   <arg name="eagleye_param_path"/>
   <arg name="ar_tag_based_localizer_param_path"/>
diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
index bdea584bd58ae..9f840182a007a 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
@@ -22,6 +22,7 @@
       <arg name="input_odom_name" value="/localization/pose_twist_fusion_filter/kinematic_state"/>
       <arg name="input_twist_with_covariance_name" value="/localization/pose_twist_fusion_filter/twist_with_covariance"/>
       <arg name="output_odom_name" value="/localization/kinematic_state"/>
+      <arg name="param_path" value="$(var stop_filter_param_path)"/>
     </include>
   </group>