chore(object_range_splitter): add config

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Author: kminoda

autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    split_range: 80.0

autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    split_range: 70.0

autoware_launch/launch/autoware.launch.xml

@@ -42,7 +42,7 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <arg name="rviz_respawn" default="true"/>
   <!-- Perception -->
-  <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
+  <arg name="perception_mode" default="lidar_radar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -88,6 +88,14 @@
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml"
     />
     <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
+    <arg
+      name="object_recognition_detection_object_range_splitter_radar_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_object_range_splitter_radar_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"