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chore(cluster_merger): rework parameters (#6165)
chore(cluster_merger): organize parameter Signed-off-by: kminoda <koji.minoda@tier4.jp>
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perception/cluster_merger/CMakeLists.txt

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@@ -24,4 +24,5 @@ endif()
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ament_auto_package(
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INSTALL_TO_SHARE
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launch
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config
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)
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/**:
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ros__parameters:
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output_frame_id: "base_link"

perception/cluster_merger/launch/cluster_merger.launch.xml

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<arg name="output/clusters" default="output/clusters"/>
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<arg name="input/cluster0" default="input/cluster0"/>
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<arg name="input/cluster1" default="input/cluster1"/>
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<arg name="output_frame_id" default="base_link"/>
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<arg name="param_path" default="$(find-pkg-share cluster_merger)/config/cluster_merger.param.yaml"/>
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<!-- Node -->
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<node pkg="cluster_merger" exec="cluster_merger_node" name="cluster_merger" output="screen">
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<remap from="~/output/clusters" to="$(var output/clusters)"/>
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<remap from="input/cluster0" to="$(var input/cluster0)"/>
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<remap from="input/cluster1" to="$(var input/cluster1)"/>
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<param name="output_frame_id" value="$(var output_frame_id)"/>
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<param from="$(var param_path)"/>
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</node>
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</launch>

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