fix: fix elevation map bug (autowarefoundation#774) (autowarefoundati…

…on#169)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

perception/elevation_map_loader/include/elevation_map_loader/elevation_map_loader_node.hpp

@@ -93,6 +93,7 @@ class ElevationMapLoaderNode : public rclcpp::Node
   grid_map::GridMap elevation_map_;
   std::string layer_name_;
   std::string map_frame_;
+  std::string elevation_map_directory_;
   bool use_inpaint_;
   float inpaint_radius_;
   bool use_elevation_map_cloud_publisher_;

perception/elevation_map_loader/src/elevation_map_loader_node.cpp

@@ -55,7 +55,7 @@ ElevationMapLoaderNode::ElevationMapLoaderNode(const rclcpp::NodeOptions & optio
   inpaint_radius_ = this->declare_parameter("inpaint_radius", 0.3);
   use_elevation_map_cloud_publisher_ =
     this->declare_parameter("use_elevation_map_cloud_publisher", false);
-
+  elevation_map_directory_ = this->declare_parameter("elevation_map_directory", "path_default");
   const bool use_lane_filter = this->declare_parameter("use_lane_filter", false);
   data_manager_.use_lane_filter_ = use_lane_filter;
 
@@ -124,10 +124,8 @@ void ElevationMapLoaderNode::onMapHash(
 {
   RCLCPP_INFO(this->get_logger(), "subscribe map_hash");
   const auto elevation_map_hash = map_hash->pcd;
-  const std::string elevation_map_directory =
-    this->declare_parameter("elevation_map_directory", "path_default");
   data_manager_.elevation_map_path_ = std::make_unique<std::filesystem::path>(
-    std::filesystem::path(elevation_map_directory) / elevation_map_hash);
+    std::filesystem::path(elevation_map_directory_) / elevation_map_hash);
   if (data_manager_.isInitialized()) {
     publish();
   }