chore(radar_object_tracker): move tracker config directory to parameter yaml (#6250)

* chore: move tracker config directory to parameter yaml

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

* fix: add allow_substs to fix error

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

* fix: use radar tracking parameter from autoware_launch

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

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>

Author: YoshiRi

launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml

@@ -36,6 +36,7 @@
       <arg name="output" value="$(var radar_tracker_output)"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"/>
       <arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
+      <arg name="radar_object_tracker_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
     </include>
 
     <!--tracking object merger to merge near objects and far objects -->

perception/radar_object_tracker/config/radar_object_tracker.param.yaml

@@ -24,3 +24,6 @@
     max_distance_from_lane: 5.0 # [m]
     max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
     max_lateral_velocity: 7.0 # [m/s]
+
+    # tracking model parameters
+    tracking_config_directory: $(find-pkg-share radar_object_tracker)/config/tracking/

perception/radar_object_tracker/launch/radar_object_tracker.launch.xml

@@ -3,7 +3,6 @@
   <arg name="input" default="/perception/object_recognition/detection/objects"/>
   <arg name="output" default="objects"/>
   <arg name="tracker_setting_path" default="$(find-pkg-share radar_object_tracker)/config/default_tracker.param.yaml"/>
-  <arg name="tracking_config_directory" default="$(find-pkg-share radar_object_tracker)/config/tracking/"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share radar_object_tracker)/config/data_association_matrix.param.yaml"/>
   <arg name="radar_object_tracker_param_path" default="$(find-pkg-share radar_object_tracker)/config/radar_object_tracker.param.yaml"/>
   <arg name="vector_map_topic" default="/map/vector_map"/>
@@ -14,7 +13,6 @@
     <remap from="/vector_map" to="$(var vector_map_topic)"/>
     <param from="$(var tracker_setting_path)"/>
     <param from="$(var data_association_matrix_path)"/>
-    <param from="$(var radar_object_tracker_param_path)"/>
-    <param name="tracking_config_directory" value="$(var tracking_config_directory)"/>
+    <param from="$(var radar_object_tracker_param_path)" allow_substs="true"/>
   </node>
 </launch>