From b00b4663406ef5a1ac6f22775e00556a069aa19c Mon Sep 17 00:00:00 2001
From: TadaKazuto <kazuto.tada@tier4.jp>
Date: Sat, 8 Mar 2025 23:51:44 +0900
Subject: [PATCH] Set expiration time to 0.15

---
 .../multi_object_tracker/src/multi_object_tracker_core.cpp      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
index da36eff117ed1..f247451e3c94e 100644
--- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
+++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -367,7 +367,7 @@ void MultiObjectTracker::checkTrackerLifeCycle(
   std::list<std::shared_ptr<Tracker>> & list_tracker, const rclcpp::Time & time)
 {
   /* params */
-  constexpr float max_elapsed_time = 0.3;
+  constexpr float max_elapsed_time = 0.15;
 
   /* delete tracker */
   for (auto itr = list_tracker.begin(); itr != list_tracker.end(); ++itr) {