chore(object_merger): parametrize some parameters

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

Author: kminoda

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

perception/object_merger/launch/object_association_merger.launch.xml

@@ -3,20 +3,16 @@
   <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)"/>
     <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 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>