feat: filter load from parameter file

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

common_sensor_launch/config/filter.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    input_frame: ""
+    output_frame: ""
+    max_queue_size: 5
+    use_indices: false
+    latched_indices: false
+    approximate_sync: false

common_sensor_launch/launch/nebula_node_container.launch.py

@@ -86,6 +86,10 @@ def create_parameter_dict(*args):
     ), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
 
     # Pointcloud preprocessor parameters
+    filter_param = ParameterFile(
+        param_file=LaunchConfiguration("filter_param_path").perform(context),
+        allow_substs=True,
+    )
     distortion_corrector_node_param = ParameterFile(
         param_file=LaunchConfiguration("distortion_correction_node_param_path").perform(context),
         allow_substs=True,
@@ -154,7 +158,7 @@ def create_parameter_dict(*args):
                 ("input", "pointcloud_raw_ex"),
                 ("output", "self_cropped/pointcloud_ex"),
             ],
-            parameters=[cropbox_parameters],
+            parameters=[filter_param, cropbox_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -213,7 +217,7 @@ def create_parameter_dict(*args):
                 ("input", "rectified/pointcloud_ex"),
                 ("output", "pointcloud_before_sync"),
             ],
-            parameters=[ring_outlier_filter_parameters],
+            parameters=[filter_param, ring_outlier_filter_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -303,6 +307,16 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg(
         "vehicle_mirror_param_file", description="path to the file of vehicle mirror position yaml"
     )
+
+    add_launch_arg(
+        "filter_param_path",
+        os.path.join(
+            common_sensor_share_dir,
+            "config",
+            "filter.param.yaml",
+        ),
+        description="path to parameter file of filter",
+    )
     add_launch_arg(
         "distortion_correction_node_param_path",
         os.path.join(