Merge pull request #525 from tier4/sync-awf-latest

chore: sync awf-latest
tier4 · Oct 24, 2022 · 3ce0893 · 3ce0893
2 parents 789e9ed + fc33ada
commit 3ce0893
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -1,8 +1,13 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="publish_rate" default="10.0"/>
+  <arg name="enable_delay_compensation" default="true"/>
+
   <group>
     <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
       <arg name="data_association_matrix_path" value="$(find-pkg-share perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"/>
+      <arg name="publish_rate" value="$(var publish_rate)"/>
+      <arg name="enable_delay_compensation" value="$(var enable_delay_compensation)"/>
     </include>
   </group>
 </launch>
diff --git a/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -269,7 +269,7 @@ def create_single_frame_obstacle_segmentation_components(self, input_topic, outp
             components.append(
                 self.get_additional_lidars_concatenated_component(
                     input_topics=[common_pipeline_output]
-                    + list(map(lambda x: f"{x}/pointcloud"), additional_lidars),
+                    + [f"{x}/pointcloud" for x in additional_lidars],
                     output_topic=relay_topic if use_ransac else output_topic,
                 )
             )