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refactor(map_based_prediction): read parameters from autoware_launch #4337

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Jul 19, 2023
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refactor(map_based_prediction): read parameters from autoware_launch #4337

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2 changes: 2 additions & 0 deletions launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,11 +1,13 @@
<?xml version="1.0"?>
<launch>
<arg name="use_vector_map" default="false" description="use vector map in prediction"/>
<arg name="param_path" default="$(find-pkg-share map_based_prediction)/config/map_based_prediction.param.yaml"/>

<group if="$(var use_vector_map)">
<set_remap from="objects" to="/perception/object_recognition/objects"/>
<include file="$(find-pkg-share map_based_prediction)/launch/map_based_prediction.launch.xml">
<arg name="output_topic" value="/perception/object_recognition/objects"/>
<arg name="param_path" value="$(var object_recognition_prediction_map_based_prediction_param_path)"/>
</include>
</group>
<group unless="$(var use_vector_map)">
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1 change: 1 addition & 0 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
<arg name="object_recognition_detection_object_lanelet_filter_param_path"/>
<arg name="object_recognition_detection_object_position_filter_param_path"/>
<arg name="object_recognition_detection_pointcloud_map_filter_param_path"/>
<arg name="object_recognition_prediction_map_based_prediction_param_path"/>
<arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
<arg name="obstacle_segmentation_ground_segmentation_param_path"/>
<arg name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"/>
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