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fix(ground_segmentation): bring junction parameter from param file to launch argument (#1327) #759

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Feb 17, 2025
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fix(ground_segmentation): bring junction parameter from param file to launch argument (#1327) #759

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2 changes: 0 additions & 2 deletions ...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,6 @@
ros__parameters:
additional_lidars: []
ransac_input_topics: []
use_single_frame_filter: False
use_time_series_filter: True

common_crop_box_filter:
parameters:
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5 changes: 5 additions & 0 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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Expand Up @@ -13,6 +13,8 @@
<arg name="use_detection_by_tracker" default="true" description="launch detection_by_tracker function"/>
<arg name="use_radar_tracking_fusion" default="true" description="if true, radar objects are merged in tracking module. Otherwise, radar objects are merged in detection module."/>
<arg name="use_object_filter" default="true" description="launch object filter to filter-out detected object"/>
<arg name="use_obstacle_segmentation_single_frame_filter" default="false" description="use single frame filter at the ground segmentation"/>
<arg name="use_obstacle_segmentation_time_series_filter" default="true" description="use time series filter at the ground segmentation"/>

<arg name="occupancy_grid_map_method" default="pointcloud_based" description="options: pointcloud_based, laserscan_based, multi_lidar_pointcloud_based"/>
<arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
Expand Down Expand Up @@ -45,6 +47,9 @@
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
<arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
<arg name="use_obstacle_segmentation_single_frame_filter" value="$(var use_obstacle_segmentation_single_frame_filter)"/>
<arg name="use_obstacle_segmentation_time_series_filter" value="$(var use_obstacle_segmentation_time_series_filter)"/>

<arg name="data_path" value="$(var data_path)"/>

<arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
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