feat: fix param loader

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

Author: YoshiRi

perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py

@@ -25,6 +25,7 @@
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+import launch_ros.parameter_descriptions
 import yaml
 
 
@@ -119,6 +120,9 @@ def launch_setup(context, *args, **kwargs):
             ],
             parameters=[
                 laserscan_based_occupancy_grid_map_node_params,
+                launch_ros.parameter_descriptions.ParameterFile(
+                    param_file=laserscan_based_occupancy_grid_map_node_params["updater_param_file"],
+                ),
                 {
                     "input_obstacle_pointcloud": LaunchConfiguration("input_obstacle_pointcloud"),
                     "input_obstacle_and_raw_pointcloud": LaunchConfiguration(

perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py

@@ -25,6 +25,7 @@
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+import launch_ros.parameter_descriptions
 import yaml
 
 
@@ -74,6 +75,11 @@ def launch_setup(context, *args, **kwargs):
             ],
             parameters=[
                 pointcloud_based_occupancy_grid_map_node_params,
+                launch_ros.parameter_descriptions.ParameterFile(
+                    param_file=pointcloud_based_occupancy_grid_map_node_params[
+                        "updater_param_file"
+                    ],
+                ),
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         ),