chore(bytetrack): rework parameters (#6171)

chore(bytetrack): use config

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

Author: kminoda

perception/bytetrack/config/bytetrack.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    track_buffer_length: 30

perception/bytetrack/config/bytetrack_visualizer.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    use_raw: false

perception/bytetrack/config/bytetracker.param.yaml perception/bytetrack/config/kalman_filter.param.yaml

@@ -4,21 +4,21 @@
   <arg name="in_image_compressed" default="$(var in_image)/compressed"/>
   <arg name="detection_rect" default="/perception/object_recognition/detection/rois0"/>
   <arg name="tracked_rect" default="/perception/object_recognition/detection/tracked/rois0"/>
-  <arg name="track_buffer_length" default="30"/>
-  <arg name="use_raw" default="false"/>
+  <arg name="bytetrack_param_path" default="$(find-pkg-share bytetrack)/config/bytetrack.param.yaml"/>
+  <arg name="bytetrack_visualizer_param_path" default="$(find-pkg-share bytetrack)/config/bytetrack.param.yaml"/>
   <arg name="enable_visualizer" default="true"/>
 
   <node pkg="bytetrack" exec="bytetrack_node_exe" output="screen">
     <remap from="~/in/rect" to="$(var detection_rect)"/>
     <remap from="~/out/objects" to="$(var tracked_rect)"/>
     <remap from="~/out/objects/debug/uuid" to="$(var tracked_rect)/debug/uuid"/>
-    <param name="track_buffer_length" value="$(var track_buffer_length)"/>
+    <param from="$(var bytetrack_param_path)"/>
   </node>
 
   <node pkg="bytetrack" exec="bytetrack_visualizer_node_exe" output="screen" if="$(var enable_visualizer)">
     <remap from="~/in/image" to="$(var in_image)"/>
     <remap from="~/in/rect" to="$(var tracked_rect)"/>
     <remap from="~/in/uuid" to="$(var tracked_rect)/debug/uuid"/>
-    <param name="use_raw" value="$(var use_raw)"/>
+    <param from="$(var bytetrack_visualizer_param_path)"/>
   </node>
 </launch>

perception/bytetrack/launch/bytetrack.launch.xml

@@ -72,7 +72,7 @@ STrack::STrack(std::vector<float> input_tlwh, float score, int label)
   const std::string package_share_directory =
     ament_index_cpp::get_package_share_directory("bytetrack");
   const std::string default_config_path =
-    package_share_directory + "/config/bytetracker.param.yaml";
+    package_share_directory + "/config/kalman_filter.param.yaml";
   if (!_parameters_loaded) {
     load_parameters(default_config_path);
     _parameters_loaded = true;