fix: variable name was wrong

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: reduce lower limit of publish interval

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: enlarge publish range upper limit

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: set parameter tested and agreed

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

perception/multi_object_tracker/src/multi_object_tracker_core.cpp

@@ -207,7 +207,7 @@ void MultiObjectTracker::onMeasurement(
     publish(measurement_time);
   } else {
     // Publish if the next publish time is close
-    const double minimum_publish_interval = publisher_period_ * 0.7;  // 70% of the period
+    const double minimum_publish_interval = publisher_period_ * 0.70;  // 70% of the period
     if ((this->now() - last_published_time_).seconds() > minimum_publish_interval) {
       checkAndPublish(this->now());
     }
@@ -247,8 +247,8 @@ void MultiObjectTracker::onTimer()
   // check the publish period
   const auto elapsed_time = (current_time - last_published_time_).seconds();
   // if the elapsed time is over the period, publish objects with prediction
-  constexpr double latency_ratio = 1.11;  // 11% margin
-  const double maximum_publish_latency = publisher_period_ * latest_publish_latency_ratio;
+  constexpr double maximum_latency_ratio = 1.11;  // 11% margin
+  const double maximum_publish_latency = publisher_period_ * maximum_latency_ratio;
   if (elapsed_time > maximum_publish_latency) {
     checkAndPublish(current_time);
   }