Fixed filter params to run Autoware + AWSIM

Signed-off-by: Shintaro Sakoda <[email protected]>
SakodaShintaro · Oct 23, 2024 · 948b1bf · 948b1bf
1 parent 46c1342
commit 948b1bf
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Showing 5 changed files with 35 additions and 0 deletions.
diff --git a/...ion/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml b/...ion/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml
@@ -9,3 +9,7 @@
     min_z: -30.0
     max_z: 50.0
     negative: False
+    max_queue_size: 5
+    use_indices: false
+    latched_indices: false
+    approximate_sync: false
diff --git a/...localization/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml b/...localization/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml
@@ -1,3 +1,9 @@
 /**:
   ros__parameters:
     sample_num: 1500
+    input_frame: ""
+    output_frame: ""
+    max_queue_size: 5
+    use_indices: false
+    latched_indices: false
+    approximate_sync: false
diff --git a/...config/localization/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml b/...config/localization/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml
@@ -3,3 +3,9 @@
     voxel_size_x: 3.0
     voxel_size_y: 3.0
     voxel_size_z: 3.0
+    input_frame: ""
+    output_frame: ""
+    max_queue_size: 5
+    use_indices: false
+    latched_indices: false
+    approximate_sync: false
diff --git a/...erception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/...erception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
@@ -27,3 +27,10 @@
 
     # Threshold of grid size to split map pointcloud
     max_map_grid_size: 100.0
+
+    input_frame: ""
+    output_frame: ""
+    max_queue_size: 5
+    use_indices: false
+    latched_indices: false
+    approximate_sync: false
diff --git a/...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -14,6 +14,12 @@
         margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
         margin_min_z: -2.5 # to extend the crop box min_z from ground
         negative: False
+        input_frame: "base_link"
+        output_frame: "base_link"
+        max_queue_size: 5
+        use_indices: false
+        latched_indices: false
+        approximate_sync: false
 
     common_ground_filter:
       plugin: "ground_segmentation::ScanGroundFilterComponent"
@@ -34,6 +40,12 @@
         low_priority_region_x: -20.0
         center_pcl_shift: 0.0
         radial_divider_angle_deg: 1.0
+        input_frame: ""
+        output_frame: ""
+        max_queue_size: 5
+        use_indices: false
+        latched_indices: false
+        approximate_sync: false
 
         # debug parameters
         publish_processing_time_detail: false