From 17e9a45372bde50bd757b135922fe48ca5d1153d Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Mon, 29 Jan 2024 09:28:25 +0900
Subject: [PATCH] chore(detected_object_validation): rework parameters (#6166)

chore(detected_object_validation): use config

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../config/obstacle_pointcloud_based_validator.param.yaml      | 1 +
 .../config/occupancy_grid_based_validator.param.yaml           | 3 +++
 .../launch/obstacle_pointcloud_based_validator.launch.xml      | 1 -
 .../launch/occupancy_grid_based_validator.launch.xml           | 3 ++-
 4 files changed, 6 insertions(+), 2 deletions(-)
 create mode 100644 perception/detected_object_validation/config/occupancy_grid_based_validator.param.yaml

diff --git a/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml b/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml
index f7a27a52bfa8a..cddee782e8af0 100644
--- a/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml
+++ b/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml
@@ -13,3 +13,4 @@
       [800.0,  800.0,  800.0,    800.0,   800.0,      800.0,    800.0,         800.0]
 
     using_2d_validator: false
+    enable_debugger: false
diff --git a/perception/detected_object_validation/config/occupancy_grid_based_validator.param.yaml b/perception/detected_object_validation/config/occupancy_grid_based_validator.param.yaml
new file mode 100644
index 0000000000000..fc5c634735e23
--- /dev/null
+++ b/perception/detected_object_validation/config/occupancy_grid_based_validator.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    enable_debug: false
diff --git a/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml b/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
index 799b605658345..a1d941e66db4b 100644
--- a/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
+++ b/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
@@ -9,7 +9,6 @@
     <remap from="~/input/detected_objects" to="$(var input/detected_objects)"/>
     <remap from="~/input/obstacle_pointcloud" to="$(var input/obstacle_pointcloud)"/>
     <remap from="~/output/objects" to="$(var output/objects)"/>
-    <param name="enable_debugger" value="false"/>
     <param from="$(var obstacle_pointcloud_based_validator_param_path)"/>
   </node>
 </launch>
diff --git a/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml b/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml
index 04bcbd87172b3..3acb1f2d1907a 100644
--- a/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml
+++ b/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml
@@ -7,6 +7,7 @@
   <arg name="input/occupancy_grid_map" default="/perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map"/>
   <arg name="occupancy_grid_map_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml"/>
   <arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml"/>
+  <arg name="occupancy_grid_based_validator_param_path" default="$(find-pkg-share detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml"/>
 
   <node pkg="probabilistic_occupancy_grid_map" exec="laserscan_based_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen">
     <remap from="~/input/laserscan" to="$(var input/laserscan)"/>
@@ -22,6 +23,6 @@
     <remap from="~/input/detected_objects" to="$(var input/detected_objects)"/>
     <remap from="~/input/occupancy_grid_map" to="$(var input/occupancy_grid_map)"/>
     <remap from="~/output/objects" to="$(var output/objects)"/>
-    <param name="enable_debug" value="false"/>
+    <param from="$(var occupancy_grid_based_validator_param_path)"/>
   </node>
 </launch>