Merge pull request autowarefoundation#617 from tier4/cherry-pick/pr83…

…1+946

chore(ground_segmentation): cherry pick/pr831+946 and fix params

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    additional_lidars: ["front_lower"]
+    additional_lidars: ["front_lower","left_upper"]
     ransac_input_topics: []
     use_single_frame_filter: False
     use_time_series_filter: True
@@ -20,16 +20,20 @@
       parameters:
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 25.0 # recommended 30.0 for non elevation_grid_mode
-        split_points_distance_tolerance: 0.15
+        split_points_distance_tolerance: 0.2
         use_virtual_ground_point: True
         split_height_distance: 0.2
-        non_ground_height_threshold: 0.12
+        non_ground_height_threshold: 0.1
         grid_size_m: 0.2
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 5
         detection_range_z_max: 3.2
         elevation_grid_mode: true
+        use_recheck_ground_cluster: true
+        use_lowest_point: false
+        low_priority_region_x: -20.0
         center_pcl_shift: 0.0
+        radial_divider_angle_deg: 1.0
 
     # common_ground_filter:
     #   plugin: "ground_segmentation::RayGroundFilterComponent"
@@ -61,8 +65,12 @@
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
         detection_range_z_max: 3.2
-        center_pcl_shift: 0.0
         elevation_grid_mode: true
+        use_recheck_ground_cluster: true
+        use_lowest_point: true
+        low_priority_region_x: -20.0
+        center_pcl_shift: 0.0
+        radial_divider_angle_deg: 1.0
 
     front_lower_crop_box_filter:
       parameters:
@@ -77,16 +85,49 @@
     front_lower_ground_filter:
       plugin: "ground_segmentation::ScanGroundFilterComponent"
       parameters:
-        global_slope_max_angle_deg: 10.0
-        local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
-        split_points_distance_tolerance: 0.10 # recommended 0.1 for non elevation_grid_mode
-        split_height_distance: 0.05      # recommended 0.05 for non elevation_grid_mode
-        use_virtual_ground_point: true
-        non_ground_height_threshold: 0.1
-        grid_size_m: 0.1
-        grid_mode_switch_radius: 20.0
+        global_slope_max_angle_deg: 5.0
+        local_slope_max_angle_deg: 5.0 # recommended 30.0 for non elevation_grid_mode
+        split_points_distance_tolerance: 0.20  # recommended 0.045 for non elevation_grid_mode
+        split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode
+        use_virtual_ground_point: False
+        non_ground_height_threshold: 0.05
+        grid_size_m: 0.2
+        grid_mode_switch_radius: 10.0
         gnd_grid_buffer_size: 4
         detection_range_z_max: 3.2
+        elevation_grid_mode: true
+        use_recheck_ground_cluster: true
+        use_lowest_point: true
+        low_priority_region_x: -20.0
+        center_pcl_shift: 0.0
+        radial_divider_angle_deg: 1.0
+
+    left_upper_crop_box_filter:
+      parameters:
+        min_x: -0.0
+        max_x: 40.0
+        min_y: -10.0
+        max_y: 10.0
+        max_z: 1.  # recommended 2.5 for non elevation_grid_mode
+        min_z: -1.0 # recommended 0.0 for non elevation_grid_mode
+        negative: False
+
+    left_upper_ground_filter:
+      plugin: "ground_segmentation::ScanGroundFilterComponent"
+      parameters:
+        global_slope_max_angle_deg: 6.0
+        local_slope_max_angle_deg: 6.0 # recommended 30.0 for non elevation_grid_mode
+        split_points_distance_tolerance: 0.20  # recommended 0.045 for non elevation_grid_mode
+        split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode
+        use_virtual_ground_point: False
+        non_ground_height_threshold: 0.05
+        grid_size_m: 0.2
+        grid_mode_switch_radius: 10.0
+        gnd_grid_buffer_size: 3
+        detection_range_z_max: 3.2
+        elevation_grid_mode: true
+        use_recheck_ground_cluster: true
+        use_lowest_point: true
+        low_priority_region_x: -20.0
         center_pcl_shift: 0.0
-        elevation_grid_mode: false
-        use_recheck_ground_cluster: false
+        radial_divider_angle_deg: 1.0