chore(radar_crossing_objects_noise_filter): add config file (#6210)

* chore(radar_crossing_objects_noise_filter): add config file

Signed-off-by: scepter914 <scepter914@gmail.com>

* bug fix

Signed-off-by: scepter914 <scepter914@gmail.com>

* merge main branch

Signed-off-by: scepter914 <scepter914@gmail.com>

---------

Signed-off-by: scepter914 <scepter914@gmail.com>

Author: scepter914

launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

@@ -75,8 +75,7 @@
       <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
-        <arg name="filter/angle_threshold" value="1.0472"/>
-        <arg name="filter/velocity_threshold" value="3.0"/>
+        <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
         <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
         <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
         <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
@@ -177,6 +176,7 @@
       <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
+        <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
         <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
         <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
         <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
@@ -238,6 +238,7 @@
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
+      <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
       <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
       <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>

launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml

@@ -2,8 +2,7 @@
 <launch>
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
   <arg name="output/objects" default="far_objects"/>
-  <arg name="filter/angle_threshold" default="1.221"/>
-  <arg name="filter/velocity_threshold" default="1.5"/>
+  <arg name="radar_crossing_objects_noise_filter_param_path"/>
   <arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
   <arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
   <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
@@ -14,8 +13,7 @@
     <arg name="input/objects" value="$(var input/radar)"/>
     <arg name="output/noise_objects" value="noise_objects"/>
     <arg name="output/filtered_objects" value="noise_filtered_objects"/>
-    <arg name="angle_threshold" value="$(var filter/angle_threshold)"/>
-    <arg name="velocity_threshold" value="$(var filter/velocity_threshold)"/>
+    <arg name="param_path" value="$(var radar_crossing_objects_noise_filter_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share object_velocity_splitter)/launch/object_velocity_splitter.launch.xml">

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -14,6 +14,7 @@
   <arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
   <arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
   <arg name="object_recognition_detection_lidar_model_param_path"/>
+  <arg name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"/>
   <arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
   <arg name="object_recognition_detection_radar_object_clustering_param_path"/>
   <arg name="object_recognition_detection_object_velocity_splitter_radar_param_path"/>

perception/radar_crossing_objects_noise_filter/CMakeLists.txt

@@ -37,4 +37,5 @@ endif()
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )

perception/radar_crossing_objects_noise_filter/config/radar_crossing_objects_noise_filter.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    angle_threshold: 1.2210
+    velocity_threshold: 1.5

perception/radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml

@@ -5,15 +5,13 @@
   <arg name="output/noise_objects" default="~/output/noise_objects"/>
   <arg name="output/filtered_objects" default="~/output/filtered_objects"/>
   <!-- Parameter -->
-  <arg name="angle_threshold" default="1.0472"/>
-  <arg name="velocity_threshold" default="3.0"/>
+  <arg name="param_path" default="$(find-pkg-share radar_crossing_objects_noise_filter)/config/radar_crossing_objects_noise_filter.param.yaml"/>
 
   <!-- Node -->
   <node pkg="radar_crossing_objects_noise_filter" exec="radar_crossing_objects_noise_filter_node" name="radar_crossing_objects_noise_filter" output="screen">
     <remap from="~/input/objects" to="$(var input/objects)"/>
     <remap from="~/output/noise_objects" to="$(var output/noise_objects)"/>
     <remap from="~/output/filtered_objects" to="$(var output/filtered_objects)"/>
-    <param name="angle_threshold" value="$(var angle_threshold)"/>
-    <param name="velocity_threshold" value="$(var velocity_threshold)"/>
+    <param from="$(var param_path)"/>
   </node>
 </launch>