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chore(radar_object_tracker): move tracker config directory to parameter yaml #6250

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merged 4 commits into from
Feb 9, 2024
Merged

chore(radar_object_tracker): move tracker config directory to parameter yaml #6250

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8b96b01
chore: move tracker config directory to parameter yaml
YoshiRi Jan 31, 2024
65e01e1
fix: add allow_substs to fix error
YoshiRi Feb 7, 2024
53590d5
Merge branch 'main' into chore/fix_radar_tracker_param
kminoda Feb 8, 2024
7f41f63
fix: use radar tracking parameter from autoware_launch
YoshiRi Feb 9, 2024
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3 changes: 3 additions & 0 deletions perception/radar_object_tracker/config/radar_object_tracker.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,3 +24,6 @@
max_distance_from_lane: 5.0 # [m]
max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
max_lateral_velocity: 7.0 # [m/s]

# tracking model parameters
tracking_config_directory: $(find-pkg-share radar_object_tracker)/config/tracking/
4 changes: 1 addition & 3 deletions perception/radar_object_tracker/launch/radar_object_tracker.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@
<arg name="input" default="/perception/object_recognition/detection/objects"/>
<arg name="output" default="objects"/>
<arg name="tracker_setting_path" default="$(find-pkg-share radar_object_tracker)/config/default_tracker.param.yaml"/>
<arg name="tracking_config_directory" default="$(find-pkg-share radar_object_tracker)/config/tracking/"/>
<arg name="data_association_matrix_path" default="$(find-pkg-share radar_object_tracker)/config/data_association_matrix.param.yaml"/>
<arg name="radar_object_tracker_param_path" default="$(find-pkg-share radar_object_tracker)/config/radar_object_tracker.param.yaml"/>
<arg name="vector_map_topic" default="/map/vector_map"/>
Expand All @@ -14,7 +13,6 @@
<remap from="/vector_map" to="$(var vector_map_topic)"/>
<param from="$(var tracker_setting_path)"/>
<param from="$(var data_association_matrix_path)"/>
<param from="$(var radar_object_tracker_param_path)"/>
<param name="tracking_config_directory" value="$(var tracking_config_directory)"/>
<param from="$(var radar_object_tracker_param_path)" allow_substs="true"/>
</node>
</launch>