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fix(ground_segmentation): missing default parameters ERROR #8538

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Original file line number Diff line number Diff line change
@@ -1,20 +1,5 @@
/**:
ros__parameters:
additional_lidars: []
ransac_input_topics: []
use_single_frame_filter: False
use_time_series_filter: True

common_crop_box_filter:
parameters:
min_x: -50.0
max_x: 100.0
min_y: -50.0
max_y: 50.0
max_z: 2.5 # recommended 2.5 for non elevation_grid_mode
min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
negative: False

common_ground_filter:
plugin: "autoware::ground_segmentation::ScanGroundFilterComponent"
parameters:
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,15 @@ def launch_setup(context, *args, **kwargs):
with open(vehicle_info_param_path, "r") as f:
vehicle_info_param = yaml.safe_load(f)["/**"]["ros__parameters"]

ground_segmentation_param_path = os.path.join(
get_package_share_directory("autoware_ground_segmentation"),
"config",
"ground_segmentation.param.yaml",
)

with open(ground_segmentation_param_path, "r") as f:
ground_segmentation_param = yaml.safe_load(f)["/**"]["ros__parameters"]

nodes = [
ComposableNode(
package="autoware_ground_segmentation",
Expand All @@ -43,12 +52,9 @@ def launch_setup(context, *args, **kwargs):
("output", LaunchConfiguration("output/pointcloud")),
],
parameters=[
{
"global_slope_max_angle_deg": 10.0,
"local_slope_max_angle_deg": 30.0,
"split_points_distance_tolerance": 0.2,
"split_height_distance": 0.2,
},
ground_segmentation_param["common_ground_filter"]["parameters"],
{"input_frame": "base_link"},
{"output_frame": "base_link"},
vehicle_info_param,
],
),
Expand Down
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