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chore(simple_object_merger): fix README #6202

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Jan 29, 2024
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chore(simple_object_merger): fix README #6202

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chore(simple_object_merger): fix README
scepter914 Jan 27, 2024
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style(pre-commit): autofix
pre-commit-ci[bot] Jan 29, 2024
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Merge branch 'main' into chore/update_simple_object_merger_readme
scepter914 Jan 29, 2024
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10 changes: 4 additions & 6 deletions perception/simple_object_merger/README.md
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# simple_object_merger

This package can merge multiple topics of [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl) without low calculation cost.
This package can merge multiple topics of [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl) with low calculation cost.

## Algorithm
## Design

### Background

[Object_merger](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/object_merger) is mainly used for merge process with DetectedObjects. There are 2 characteristics in `Object_merger`. First, `object_merger` solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, `object_merger` can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 `object_merger` nodes need to stand for now.

So `simple_object_merger` aim to merge multiple DetectedObjects with low calculation cost.
Therefore, `simple_object_merger` aim to merge multiple DetectedObjects with low calculation cost.
The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes.

### Use case

Use case is as below.

- Multiple radar detection

`Simple_object_merger` can be used for multiple radar detection. By combining them into one topic from multiple radar topics with `simple_object_merger`, the pipeline for faraway detection with radar is simpler.
`Simple_object_merger` can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler.

### Limitation

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