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chore: sync awf-latest #295

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Jan 29, 2024
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Original file line number Diff line number Diff line change
Expand Up @@ -95,9 +95,8 @@
# Radius of input LiDAR range (used for diagnostics of dynamic map loading)
lidar_radius: 100.0

# cspell: ignore degrounded
# A flag for using scan matching score based on de-grounded LiDAR scan
estimate_scores_for_degrounded_scan: false
# A flag for using scan matching score based on no ground LiDAR scan
estimate_scores_by_no_ground_points: false

# If lidar_point.z - base_link.z <= this threshold , the point will be removed
z_margin_for_ground_removal: 0.8
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
/**:
ros__parameters:
split_range: 80.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
/**:
ros__parameters:
split_range: 70.0
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Expand Up @@ -23,4 +23,4 @@

# logging
enable_logging: false
log_file_path: "/tmp/decorative_tracker_merger.log"
logging_file_path: "/tmp/decorative_tracker_merger.log"
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Expand Up @@ -59,6 +59,8 @@
object_expected_deceleration: 2.0
ignore_on_red_traffic_light:
object_margin_to_path: 2.0
avoid_collision_by_acceleration:
object_time_margin_to_collision_point: 4.0

occlusion:
enable: false
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,14 @@
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml"
/>
<arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
<arg
name="object_recognition_detection_object_range_splitter_radar_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml"
/>
<arg
name="object_recognition_detection_object_range_splitter_radar_fusion_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml"
/>
<arg
name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
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