From 46fd31a326c457164b72b10ec43adfbba863f4f9 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Wed, 24 Jan 2024 18:14:47 +0900
Subject: [PATCH 1/3] chore(object_merger): parametrize some parameters

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../config/object_association_merger.param.yaml           | 6 ++++++
 .../launch/object_association_merger.launch.xml           | 8 ++------
 2 files changed, 8 insertions(+), 6 deletions(-)
 create mode 100644 perception/object_merger/config/object_association_merger.param.yaml

diff --git a/perception/object_merger/config/object_association_merger.param.yaml b/perception/object_merger/config/object_association_merger.param.yaml
new file mode 100644
index 0000000000000..16eb26ed706bb
--- /dev/null
+++ b/perception/object_merger/config/object_association_merger.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    sync_queue_size: 20
+    priority_mode: 2 # 0: Object0, 1: Object1, 2: Confidence 
+    precision_threshold_to_judge_overlapped: 0.4
+    remove_overlapped_unknown_objects: true
diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/object_merger/launch/object_association_merger.launch.xml
index 5754c256fef3c..1da8bd2e98de1 100644
--- a/perception/object_merger/launch/object_association_merger.launch.xml
+++ b/perception/object_merger/launch/object_association_merger.launch.xml
@@ -3,10 +3,9 @@
   <arg name="input/object0" default="object0"/>
   <arg name="input/object1" default="object1"/>
   <arg name="output/object" default="merged_object"/>
-  <arg name="priority_mode" default="2" description="0: Object0, 1: Object1, 2: Confidence"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
-  <arg name="sync_queue_size" default="20"/>
+  <arg name="object_association_merger_param_path" default="$(find-pkg-share object_merger)/config/object_association_merger.param.yaml"/>
 
   <node pkg="object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
     <remap from="input/object0" to="$(var input/object0)"/>
@@ -14,9 +13,6 @@
     <remap from="output/object" to="$(var output/object)"/>
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var distance_threshold_list_path)"/>
-    <param name="priority_mode" value="$(var priority_mode)"/>
-    <param name="sync_queue_size" value="$(var sync_queue_size)"/>
-    <param name="precision_threshold_to_judge_overlapped" value="0.4"/>
-    <param name="remove_overlapped_unknown_objects" value="true"/>
+    <param from="$(var object_association_merger_param_path)"/>
   </node>
 </launch>

From 9539e8c132967bae3f2e4d246ddbdaea68ad2e7e Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 24 Jan 2024 09:17:25 +0000
Subject: [PATCH 2/3] style(pre-commit): autofix

---
 .../object_merger/config/object_association_merger.param.yaml   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/object_merger/config/object_association_merger.param.yaml b/perception/object_merger/config/object_association_merger.param.yaml
index 16eb26ed706bb..1b4cf4912e7de 100644
--- a/perception/object_merger/config/object_association_merger.param.yaml
+++ b/perception/object_merger/config/object_association_merger.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
     sync_queue_size: 20
-    priority_mode: 2 # 0: Object0, 1: Object1, 2: Confidence 
+    priority_mode: 2 # 0: Object0, 1: Object1, 2: Confidence
     precision_threshold_to_judge_overlapped: 0.4
     remove_overlapped_unknown_objects: true

From 70453961037d78ac9fe816228759bc5c85b7aa05 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Thu, 8 Feb 2024 18:10:12 +0900
Subject: [PATCH 3/3] revert priority_mode

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../detection/merger/lidar_merger.launch.xml                  | 1 +
 .../object_merger/config/object_association_merger.param.yaml | 1 -
 .../object_merger/launch/object_association_merger.launch.xml | 4 ++++
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
index 6ccff44933966..0ecc89c8743e8 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
@@ -45,6 +45,7 @@
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger/input/objects)"/>
       <arg name="input/object1" value="clustering/objects"/>
+      <arg name="priority_mode" value="2"/>
       <arg name="output/object" value="$(var merger/output/objects)"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
       <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
diff --git a/perception/object_merger/config/object_association_merger.param.yaml b/perception/object_merger/config/object_association_merger.param.yaml
index 1b4cf4912e7de..5e5dafad5d573 100644
--- a/perception/object_merger/config/object_association_merger.param.yaml
+++ b/perception/object_merger/config/object_association_merger.param.yaml
@@ -1,6 +1,5 @@
 /**:
   ros__parameters:
     sync_queue_size: 20
-    priority_mode: 2 # 0: Object0, 1: Object1, 2: Confidence
     precision_threshold_to_judge_overlapped: 0.4
     remove_overlapped_unknown_objects: true
diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/object_merger/launch/object_association_merger.launch.xml
index 1da8bd2e98de1..b26788bb04667 100644
--- a/perception/object_merger/launch/object_association_merger.launch.xml
+++ b/perception/object_merger/launch/object_association_merger.launch.xml
@@ -3,6 +3,7 @@
   <arg name="input/object0" default="object0"/>
   <arg name="input/object1" default="object1"/>
   <arg name="output/object" default="merged_object"/>
+  <arg name="priority_mode" default="2" description="0: Object0, 1: Object1, 2: Confidence"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
   <arg name="object_association_merger_param_path" default="$(find-pkg-share object_merger)/config/object_association_merger.param.yaml"/>
@@ -14,5 +15,8 @@
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var distance_threshold_list_path)"/>
     <param from="$(var object_association_merger_param_path)"/>
+
+    <!-- Be careful when moving this parameter to param.yaml, since this value depends on which part this launcher is called -->
+    <param name="priority_mode" value="$(var priority_mode)"/>
   </node>
 </launch>