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chore(object_merger): rework parameters #6160

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merged 5 commits into from
Feb 9, 2024
Merged

chore(object_merger): rework parameters #6160

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46fd31a
chore(object_merger): parametrize some parameters
kminoda Jan 24, 2024
9539e8c
style(pre-commit): autofix
pre-commit-ci[bot] Jan 24, 2024
25749dd
Merge branch 'main' into chore/object_merger/parametrize
kminoda Feb 1, 2024
7045396
revert priority_mode
kminoda Feb 8, 2024
0162f62
Merge branch 'main' into chore/object_merger/parametrize
kminoda Feb 8, 2024
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1 change: 1 addition & 0 deletions ...ier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
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5 changes: 5 additions & 0 deletions perception/object_merger/config/object_association_merger.param.yaml
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@@ -0,0 +1,5 @@
/**:
ros__parameters:
sync_queue_size: 20
precision_threshold_to_judge_overlapped: 0.4
remove_overlapped_unknown_objects: true
8 changes: 4 additions & 4 deletions perception/object_merger/launch/object_association_merger.launch.xml
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Expand Up @@ -6,17 +6,17 @@
<arg name="priority_mode" default="2" description="0: Object0, 1: Object1, 2: Confidence"/>
<arg name="data_association_matrix_path" default="$(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)"/>
<remap from="input/object1" to="$(var input/object1)"/>
<remap from="output/object" to="$(var output/object)"/>
<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="$(var priority_mode)"/>
<param name="sync_queue_size" value="$(var sync_queue_size)"/>
<param name="precision_threshold_to_judge_overlapped" value="0.4"/>
<param name="remove_overlapped_unknown_objects" value="true"/>
</node>
</launch>
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