chore: add default params

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
autowarefoundation · Jul 7, 2022 · 1065e40 · 1065e40
1 parent 73afe15
commit 1065e40
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/...on_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/...on_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -20,4 +20,5 @@
         local_slope_max_angle_deg: 30.0
         split_points_distance_tolerance: 0.2
         split_height_distance: 0.3
+        minimum_detection_range: -0.2
         use_virtual_ground_point: True
diff --git a/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -103,7 +103,8 @@ def create_additional_pipeline(self, lidar_name):
                     ("output", f"{lidar_name}/pointcloud"),
                 ],
                 parameters=[
-                    self.ground_segmentation_param[f"{lidar_name}_ground_filter"]["parameters"]
+                    {"maximum_detection_range": self.vehicle_info["max_height_offset"]},
+                    self.ground_segmentation_param[f"{lidar_name}_ground_filter"]["parameters"],
                 ],
                 extra_arguments=[
                     {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
@@ -237,6 +238,7 @@ def create_common_pipeline(self, input_topic, output_topic):
                     ("output", output_topic),
                 ],
                 parameters=[
+                    {"maximum_detection_range": self.vehicle_info["max_height_offset"]},
                     self.ground_segmentation_param["common_ground_filter"]["parameters"],
                     self.vehicle_info,
                 ],