From 082e10e8b3ce3204a97363a4851aa1bd69f7155d Mon Sep 17 00:00:00 2001
From: scepter914 <scepter914@gmail.com>
Date: Mon, 29 Jan 2024 13:41:36 +0900
Subject: [PATCH] add a config file of simple_object_merger

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 aip_x2_launch/config/simple_object_merger.param.yaml | 7 +++++++
 aip_x2_launch/launch/radar.launch.xml                | 5 +----
 2 files changed, 8 insertions(+), 4 deletions(-)
 create mode 100644 aip_x2_launch/config/simple_object_merger.param.yaml

diff --git a/aip_x2_launch/config/simple_object_merger.param.yaml b/aip_x2_launch/config/simple_object_merger.param.yaml
new file mode 100644
index 00000000..8497ae8b
--- /dev/null
+++ b/aip_x2_launch/config/simple_object_merger.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    update_rate_hz: 20.0
+    new_frame_id: "base_link"
+    timeout_threshold: 1.0
+    input_topics: ["/sensing/radar/front_center/detected_objects", "/sensing/radar/front_left/detected_objects", "/sensing/radar/rear_left/detected_objects", "/sensing/radar/rear_center/detected_objects", "/sensing/radar/rear_right/detected_objects", "/sensing/radar/front_right/detected_objects"]
+
diff --git a/aip_x2_launch/launch/radar.launch.xml b/aip_x2_launch/launch/radar.launch.xml
index 73e36ecf..042e9d81 100644
--- a/aip_x2_launch/launch/radar.launch.xml
+++ b/aip_x2_launch/launch/radar.launch.xml
@@ -61,10 +61,7 @@
 
     <include file="$(find-pkg-share simple_object_merger)/launch/simple_object_merger.launch.xml">
       <arg name="output/objects" value="detected_objects"/>
-      <arg name="update_rate_hz" value="20.0"/>
-      <arg name="new_frame_id" value="base_link"/>
-      <arg name="timeout_threshold" value="1.0"/>
-      <arg name="input_topics" value="[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/rear_left/detected_objects, /sensing/radar/rear_center/detected_objects, /sensing/radar/rear_right/detected_objects, /sensing/radar/front_right/detected_objects]"/>
+      <arg name="param_path" value="$(find-pkg-share aip_x2_launch)/config/simple_object_merger.param.yaml"/>
     </include>
 
   </group>