fix(tracking_object_merger): enable to association unknown class in tracker merger (#6182)

* fix: enable to association unknown class in tracker merger

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

* chore: disable warning messages caused by unknown association

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

---------

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

Author: YoshiRi

perception/tracking_object_merger/config/data_association_matrix.param.yaml

@@ -3,7 +3,7 @@
     lidar-lidar:
       can_assign_matrix:
         #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
-        [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+        [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
         0,       1,   1,     1,    1,       0,         0,      0,         #CAR
         0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
         0,       1,   1,     1,    1,       0,         0,      0,         #BUS
@@ -59,7 +59,7 @@
     lidar-radar:
       can_assign_matrix:
         #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
-        [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+        [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
         0,       1,   1,     1,    1,       0,         0,      0,         #CAR
         0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
         0,       1,   1,     1,    1,       0,         0,      0,         #BUS
@@ -115,7 +115,7 @@
     radar-radar:
       can_assign_matrix:
         #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
-        [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+        [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
         0,       1,   1,     1,    1,       0,         0,      0,         #CAR
         0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
         0,       1,   1,     1,    1,       0,         0,      0,         #BUS

perception/tracking_object_merger/src/utils/utils.cpp

@@ -484,9 +484,9 @@ void updateWholeTrackedObject(TrackedObject & main_obj, const TrackedObject & su
 {
   if (!objectsHaveSameMotionDirections(main_obj, sub_obj)) {
     // warning
-    std::cerr << "[object_tracking_merger]: motion direction is different in "
-                 "updateWholeTrackedObject function."
-              << std::endl;
+    // std::cerr << "[object_tracking_merger]: motion direction is different in "
+    //              "updateWholeTrackedObject function."
+    //           << std::endl;
   }
   main_obj = sub_obj;
 }