chore(radar_tracks_msgs_converter): add config (autowarefoundation#6213)

Signed-off-by: scepter914 <scepter914@gmail.com>
kyoichi-sugahara · Feb 1, 2024 · c9b446b · c9b446b
1 parent 0928cb6
commit c9b446b
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Showing 3 changed files with 9 additions and 8 deletions.
diff --git a/perception/radar_tracks_msgs_converter/CMakeLists.txt b/perception/radar_tracks_msgs_converter/CMakeLists.txt
@@ -24,5 +24,6 @@ endif()
 ## Package
 ament_auto_package(
   INSTALL_TO_SHARE
+    config
     launch
 )
diff --git a/perception/radar_tracks_msgs_converter/config/radar_tracks_msgs_converter.param.yaml b/perception/radar_tracks_msgs_converter/config/radar_tracks_msgs_converter.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    update_rate_hz: 20.0
+    use_twist_compensation: true
+    use_twist_yaw_compensation: false
+    static_object_speed_threshold: 1.0
diff --git a/perception/radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml b/perception/radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml
@@ -3,19 +3,13 @@
   <arg name="input/odometry" default="/localization/kinematic_state"/>
   <arg name="output/radar_detected_objects" default="output/radar_detected_objects"/>
   <arg name="output/radar_tracked_objects" default="output/radar_tracked_objects"/>
-  <arg name="update_rate_hz" default="20.0"/>
-  <arg name="use_twist_compensation" default="true"/>
-  <arg name="use_twist_yaw_compensation" default="false"/>
-  <arg name="static_object_speed_threshold" default="1.0"/>
+  <arg name="param_path" default="$(find-pkg-share radar_tracks_msgs_converter)/config/radar_tracks_msgs_converter.param.yaml"/>
 
   <node pkg="radar_tracks_msgs_converter" exec="radar_tracks_msgs_converter_node" name="radar_tracks_msgs_converter" output="screen">
     <remap from="~/input/radar_objects" to="$(var input/radar_objects)"/>
     <remap from="~/input/odometry" to="$(var input/odometry)"/>
     <remap from="~/output/radar_detected_objects" to="$(var output/radar_detected_objects)"/>
     <remap from="~/output/radar_tracked_objects" to="$(var output/radar_tracked_objects)"/>
-    <param name="update_rate_hz" value="$(var update_rate_hz)"/>
-    <param name="use_twist_compensation" value="$(var use_twist_compensation)"/>
-    <param name="use_twist_yaw_compensation" value="$(var use_twist_yaw_compensation)"/>
-    <param name="static_object_speed_threshold" value="$(var static_object_speed_threshold)"/>
+    <param from="$(var param_path)"/>
   </node>
 </launch>