chore(ground_segmentation): reduce ground_segmentation range (#649)

Signed-off-by: badai-nguyen <[email protected]>

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -8,7 +8,7 @@
     common_crop_box_filter:
       parameters:
         min_x: -70.0
-        max_x: 120.0
+        max_x: 100.0
         min_y: -75.0
         max_y: 75.0
         max_z: 3.2
@@ -44,7 +44,7 @@
 
     front_upper_crop_box_filter:
       parameters:
-        min_x: -50.0
+        min_x: 5.8
         max_x: 100.0
         min_y: -50.0
         max_y: 50.0
@@ -74,7 +74,7 @@
 
     front_lower_crop_box_filter:
       parameters:
-        min_x: -50.0
+        min_x: 5.8
         max_x: 100.0
         min_y: -50.0
         max_y: 50.0
@@ -95,8 +95,38 @@
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
         detection_range_z_max: 3.2
-        elevation_grid_mode: false
-        use_recheck_ground_cluster: false
+        elevation_grid_mode: true
+        use_recheck_ground_cluster: true
+        use_lowest_point: true
+        low_priority_region_x: -20.0
+        center_pcl_shift: 0.0
+        radial_divider_angle_deg: 1.0
+
+    left_upper_crop_box_filter:
+      parameters:
+        min_x: 5.8
+        max_x: 40.0
+        min_y: -10.0
+        max_y: 10.0
+        max_z: 1.  # recommended 2.5 for non elevation_grid_mode
+        min_z: -1.0 # recommended 0.0 for non elevation_grid_mode
+        negative: False
+
+    left_upper_ground_filter:
+      plugin: "ground_segmentation::ScanGroundFilterComponent"
+      parameters:
+        global_slope_max_angle_deg: 6.0
+        local_slope_max_angle_deg: 6.0 # recommended 30.0 for non elevation_grid_mode
+        split_points_distance_tolerance: 0.20  # recommended 0.045 for non elevation_grid_mode
+        split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode
+        use_virtual_ground_point: False
+        non_ground_height_threshold: 0.05
+        grid_size_m: 0.2
+        grid_mode_switch_radius: 10.0
+        gnd_grid_buffer_size: 3
+        detection_range_z_max: 3.2
+        elevation_grid_mode: true
+        use_recheck_ground_cluster: true
         use_lowest_point: true
         low_priority_region_x: -20.0
         center_pcl_shift: 0.0