chore: update param_file

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

Author: badai-nguyen

sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml

@@ -11,3 +11,4 @@
     dust_buffering_interval: 1
     max_distance_range: 200.0
     horizontal_resolution: 0.4
+    blockage_kernel: 10

sensing/pointcloud_preprocessor/docs/blockage_diag.md

@@ -63,6 +63,7 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref
 | `blockage_buffering_interval` | int    | The interval of buffering about blockage detection                                                                            |
 | `dust_ratio_threshold`        | float  | The threshold of dusty area ratio                                                                                             |
 | `dust_count_threshold`        | int    | The threshold of number continuous frames include dusty area                                                                  |
+| `blockage_kernel`             | int    | The kernel size of morphology processing the detected blockage area                                                           |
 | `dust_kernel_size`            | int    | The kernel size of morphology processing in dusty area detection                                                              |
 | `dust_buffering_frames`       | int    | The number of buffering about dusty area detection [range:1-200]                                                              |
 | `dust_buffering_interval`     | int    | The interval of buffering about dusty area detection                                                                          |

sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp

@@ -44,6 +44,7 @@ BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options
     dust_buffering_interval_ = declare_parameter<int>("dust_buffering_interval");
     max_distance_range_ = declare_parameter<double>("max_distance_range");
     horizontal_resolution_ = declare_parameter<double>("horizontal_resolution");
+    blockage_kernel_ = declare_parameter<int>("blockage_kernel");
   }
   dust_mask_buffer.set_capacity(dust_buffering_frames_);
   no_return_mask_buffer.set_capacity(blockage_buffering_frames_);