From 17a3070919d5f1330d861426249cb889b71888e1 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Wed, 31 Jan 2024 22:04:12 +0900
Subject: [PATCH] chore(object_velocity_splitter): rework parameters (#6158)

* chore(object_velocity_splitter): add param file

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

* fix

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

* fix arg name

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

* fix: update launch param handling

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

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/object_recognition/detection/detection.launch.xml  | 4 +++-
 .../detection/detector/radar_detector.launch.xml              | 4 ++--
 launch/tier4_perception_launch/launch/perception.launch.xml   | 2 ++
 perception/object_velocity_splitter/CMakeLists.txt            | 1 +
 .../config/object_velocity_splitter.param.yaml                | 3 +++
 .../launch/object_velocity_splitter.launch.xml                | 4 ++--
 6 files changed, 13 insertions(+), 5 deletions(-)
 create mode 100644 perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 78c6c585d90f7..bd75d8af12fc9 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -77,7 +77,7 @@
         <arg name="output/objects" value="far_objects"/>
         <arg name="filter/angle_threshold" value="1.0472"/>
         <arg name="filter/velocity_threshold" value="3.0"/>
-        <arg name="split/velocity_threshold" value="4.5"/>
+        <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
         <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
         <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
@@ -177,6 +177,7 @@
       <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
+        <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
         <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
         <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
@@ -237,6 +238,7 @@
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
+      <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
       <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
       <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
index 0ef0201d973e1..184caf4e6224b 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
@@ -4,7 +4,7 @@
   <arg name="output/objects" default="far_objects"/>
   <arg name="filter/angle_threshold" default="1.221"/>
   <arg name="filter/velocity_threshold" default="1.5"/>
-  <arg name="split/velocity_threshold" default="5.5"/>
+  <arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
   <arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
   <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
@@ -22,7 +22,7 @@
     <arg name="input/objects" value="noise_filtered_objects"/>
     <arg name="output/low_speed_objects" value="low_speed_objects"/>
     <arg name="output/high_speed_objects" value="high_speed_objects"/>
-    <arg name="velocity_threshold" value="$(var split/velocity_threshold)"/>
+    <arg name="param_path" value="$(var object_velocity_splitter_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index e8c19382864ba..59475afbafd92 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -16,6 +16,8 @@
   <arg name="object_recognition_detection_lidar_model_param_path"/>
   <arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
   <arg name="object_recognition_detection_radar_object_clustering_param_path"/>
+  <arg name="object_recognition_detection_object_velocity_splitter_radar_param_path"/>
+  <arg name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"/>
   <arg name="object_recognition_detection_object_range_splitter_radar_param_path"/>
   <arg name="object_recognition_detection_object_range_splitter_radar_fusion_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
diff --git a/perception/object_velocity_splitter/CMakeLists.txt b/perception/object_velocity_splitter/CMakeLists.txt
index bcc56f522f0a8..0bf6de39f8f3c 100644
--- a/perception/object_velocity_splitter/CMakeLists.txt
+++ b/perception/object_velocity_splitter/CMakeLists.txt
@@ -37,4 +37,5 @@ endif()
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml b/perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml
new file mode 100644
index 0000000000000..adac831aa402c
--- /dev/null
+++ b/perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    velocity_threshold: 3.0
diff --git a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml b/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
index 42d7f3d61f386..8ab654d4907a4 100644
--- a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
+++ b/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml
@@ -5,13 +5,13 @@
   <arg name="output/low_speed_objects" default="~/output/low_speed_objects"/>
   <arg name="output/high_speed_objects" default="~/output/high_speed_objects"/>
   <!-- Parameter -->
-  <arg name="velocity_threshold" default="3.0"/>
+  <arg name="param_path" default="$(find-pkg-share object_velocity_splitter)/config/object_velocity_splitter.param.yaml"/>
 
   <!-- Node -->
   <node pkg="object_velocity_splitter" exec="object_velocity_splitter_node" name="object_velocity_splitter" output="screen">
     <remap from="~/input/objects" to="$(var input/objects)"/>
     <remap from="~/output/low_speed_objects" to="$(var output/low_speed_objects)"/>
     <remap from="~/output/high_speed_objects" to="$(var output/high_speed_objects)"/>
-    <param name="velocity_threshold" value="$(var velocity_threshold)"/>
+    <param from="$(var param_path)"/>
   </node>
 </launch>