revert priority_mode

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

Author: kminoda

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)"/>

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

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>