chore(object_range_splitter): rework parameters (#6159)

* chore(object_range_splitter): add param file

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix arg name

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* feat: use param file from autoware.launch

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Author: kminoda

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

@@ -78,7 +78,7 @@
         <arg name="filter/angle_threshold" value="1.0472"/>
         <arg name="filter/velocity_threshold" value="3.0"/>
         <arg name="split/velocity_threshold" value="4.5"/>
-        <arg name="split_range" value="70.0"/>
+        <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)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
       </include>
@@ -177,6 +177,7 @@
       <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
+        <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
         <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
       </include>
@@ -236,6 +237,7 @@
     <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="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)"/>
       <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
     </include>

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

@@ -5,7 +5,7 @@
   <arg name="filter/angle_threshold" default="1.221"/>
   <arg name="filter/velocity_threshold" default="1.5"/>
   <arg name="split/velocity_threshold" default="5.5"/>
-  <arg name="split_range" default="80.0"/>
+  <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"/>
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
 
@@ -29,7 +29,7 @@
     <arg name="input/object" value="high_speed_objects"/>
     <arg name="output/long_range_object" value="far_high_speed_objects"/>
     <arg name="output/short_range_object" value="near_high_speed_objects"/>
-    <arg name="split_range" value="$(var split_range)"/>
+    <arg name="param_path" value="$(var object_range_splitter_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -16,6 +16,8 @@
   <arg name="object_recognition_detection_lidar_model_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"/>
+  <arg name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_node_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"/>

perception/object_range_splitter/CMakeLists.txt

@@ -16,4 +16,5 @@ rclcpp_components_register_node(object_range_splitter
 ament_auto_package(
   INSTALL_TO_SHARE
     launch
+    config
 )

perception/object_range_splitter/config/object_range_splitter.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    split_range: 30.0

perception/object_range_splitter/launch/object_range_splitter.launch.xml

@@ -3,12 +3,12 @@
   <arg name="input/object" default="object"/>
   <arg name="output/long_range_object" default="long_range_object"/>
   <arg name="output/short_range_object" default="short_range_object"/>
-  <arg name="split_range" default="30.0"/>
+  <arg name="param_path" default="$(find-pkg-share object_range_splitter)/config/object_range_splitter.param.yaml"/>
 
   <node pkg="object_range_splitter" exec="object_range_splitter_node" name="object_range_splitter" output="screen">
     <remap from="input/object" to="$(var input/object)"/>
     <remap from="output/long_range_object" to="$(var output/long_range_object)"/>
     <remap from="output/short_range_object" to="$(var output/short_range_object)"/>
-    <param name="split_range" value="$(var split_range)"/>
+    <param from="$(var param_path)"/>
   </node>
 </launch>