chore: add parameter file for traffic_light_multi_camera_fusion (autowarefoundation#842)

* chore: add parameter file for traffic_light_multi_camera_fusion

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* add parameter file

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Co-authored-by: TomohitoAndo <TomohitoAndo@users.noreply.github.com>

Author: TomohitoAndo

autoware_launch/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    camera_namespaces: ["camera4", "camera5", "camera6", "camera7"]
+    message_lifespan: 0.2
+    approximate_sync: false
+    perform_group_fusion: true

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -32,6 +32,10 @@
       <arg name="output/traffic_signals" value="/perception/traffic_light_recognition/traffic_signals"/>
       <arg name="use_crosswalk_traffic_light_estimator" value="true"/>
       <arg name="crosswalk_traffic_light_estimator_param_file" value="$(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/>
+      <arg
+        name="traffic_light_multi_camera_fusion_param_path"
+        value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml"
+      />
 
       <arg name="camera_namespaces" value="['camera4', 'camera5', 'camera6', 'camera7']"/>
       <arg name="fine_detector_label_path" value="$(var data_path)/traffic_light_fine_detector/tlr_labels.txt"/>

autoware_launch/launch/components/traffic_light_recognition/traffic_light.launch.xml

@@ -24,6 +24,7 @@
   <arg name="fine_detector_param_path" default="$(find-pkg-share traffic_light_fine_detector)/config/traffic_light_fine_detector.param.yaml"/>
   <arg name="car_classifier_param_path" default="$(find-pkg-share traffic_light_classifier)/config/car_traffic_light_classifier.param.yaml"/>
   <arg name="pedestrian_classifier_param_path" default="$(find-pkg-share traffic_light_classifier)/config/pedestrian_traffic_light_classifier.param.yaml"/>
+  <arg name="traffic_light_multi_camera_fusion_param_path" description="parameter path for traffic_light_multi_camera_fusion"/>
 
   <!--  namespace1 camera TLR pipeline -->
   <group if="$(eval '$(var image_number) >= 1')">
@@ -252,8 +253,7 @@
   <!-- traffic_light_multi_camera_fusion -->
   <group>
     <node pkg="traffic_light_multi_camera_fusion" exec="traffic_light_multi_camera_fusion_node" name="traffic_light_multi_camera_fusion" output="screen">
-      <param name="camera_namespaces" value="$(var camera_namespaces)"/>
-      <param name="perform_group_fusion" value="true"/>
+      <param from="$(var traffic_light_multi_camera_fusion_param_path)"/>
       <remap from="~/input/vector_map" to="/map/vector_map"/>
       <remap from="~/output/traffic_signals" to="$(var internal/traffic_signals)"/>
     </node>