refactor(traffic_light_arbiter): read parameters from config file

Signed-off-by: Tomohito Ando <[email protected]>

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -22,6 +22,7 @@
   <arg name="occupancy_grid_map_param_path"/>
   <arg name="occupancy_grid_map_updater"/>
   <arg name="occupancy_grid_map_updater_param_path"/>
+  <arg name="traffic_light_arbiter_param_path"/>
 
   <!-- centerpoint model configs -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
@@ -60,11 +61,7 @@
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_downsample_pointcloud" default="false" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg
-    name="use_empty_dynamic_object_publisher"
-    default="false"
-    description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
-  />
+  <arg name="use_empty_dynamic_object_publisher" default="false" description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray" />
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <!-- Traffic Light Recognition Parameters -->

perception/traffic_light_arbiter/CMakeLists.txt

@@ -12,4 +12,4 @@ rclcpp_components_register_nodes(${PROJECT_NAME}
   TrafficLightArbiter
 )
 
-ament_auto_package(INSTALL_TO_SHARE launch)
+ament_auto_package(INSTALL_TO_SHARE launch config)

perception/traffic_light_arbiter/config/traffic_light_arbiter.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    external_time_tolerance: 5.0
+    perception_time_tolerance: 1.0
+    external_priority: false

perception/traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml

@@ -2,6 +2,7 @@
   <arg name="perception_traffic_signals" default="/internal/traffic_signals"/>
   <arg name="external_traffic_signals" default="/external/traffic_signals"/>
   <arg name="output_traffic_signals" default="/traffic_light_arbiter/traffic_signals"/>
+  <arg name="traffic_light_arbiter_param_path" default="$(find-pkg-share traffic_light_arbiter)/config/traffic_light_arbiter.param.yaml"/>
 
   <push-ros-namespace namespace="traffic_light_arbiter"/>
   <node_container pkg="rclcpp_components" exec="component_container" name="container" namespace="">
@@ -10,6 +11,7 @@
       <remap from="~/sub/perception_traffic_signals" to="$(var perception_traffic_signals)"/>
       <remap from="~/sub/external_traffic_signals" to="$(var external_traffic_signals)"/>
       <remap from="~/pub/traffic_signals" to="$(var output_traffic_signals)"/>
+      <param from="$(var traffic_light_arbiter_param_path)"/>
     </composable_node>
   </node_container>
 </launch>