support x1 perception config (autowarefoundation#129)

* support x1 perception config

* remove product config

* update launch.py

* maintain some filters params in yaml file

* add function to create elevation map pipeline

* add param to yaml

autoware_launch/launch/autoware.launch.xml

@@ -49,7 +49,6 @@
     <!-- options for mode: camera_lidar_fusion, lidar, camera -->
     <arg name="mode" value="camera_lidar_fusion" />
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="sensor_model" value="$(var sensor_model)"/>
   </include>
 
   <!-- Planning -->

autoware_launch/launch/logging_simulator.launch.xml

@@ -75,7 +75,6 @@
       <!-- options for mode: camera_lidar_fusion, lidar, camera -->
       <arg name="mode" value="camera_lidar_fusion" />
       <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-      <arg name="sensor_model" value="$(var sensor_model)"/>
     </include>
   </group>
 

perception_launch/config/object_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    additional_lidars: []
+    use_ransac_pipeline: False
+    use_compare_map_pipeline: False
+
+    common_crop_box_filter:
+      parameters:
+        min_x: -50.0
+        max_x: 100.0
+        min_y: -50.0
+        max_y: 50.0
+        negative: False
+
+    common_ground_filter:
+      plugin: "ground_segmentation::ScanGroundFilterComponent"
+      parameters:
+        global_slope_max_angle_deg: 10.0
+        local_slope_max_angle_deg: 30.0
+        split_points_distance_tolerance: 0.2
+        split_height_distance: 0.2
+        use_virtual_ground_point: False