From 1e263950d07c636f8a5b7cbae8e8e9a24ed5bee7 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Sat, 5 Oct 2024 07:47:11 +0900 Subject: [PATCH] refactor(tier4_perception_launch): remove duplicated parameter declaration (#9031) --- .../filter/pointcloud_map_filter.launch.py | 19 ++----------------- 1 file changed, 2 insertions(+), 17 deletions(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py index 4fda3521c07e9..16d48313eb2c9 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py @@ -35,15 +35,6 @@ def __init__(self, context): with open(pointcloud_map_filter_param_path, "r") as f: self.pointcloud_map_filter_param = yaml.safe_load(f)["/**"]["ros__parameters"] self.voxel_size = self.pointcloud_map_filter_param["down_sample_voxel_size"] - self.distance_threshold = self.pointcloud_map_filter_param["distance_threshold"] - self.downsize_ratio_z_axis = self.pointcloud_map_filter_param["downsize_ratio_z_axis"] - self.timer_interval_ms = self.pointcloud_map_filter_param["timer_interval_ms"] - self.use_dynamic_map_loading = self.pointcloud_map_filter_param["use_dynamic_map_loading"] - self.map_update_distance_threshold = self.pointcloud_map_filter_param[ - "map_update_distance_threshold" - ] - self.map_loader_radius = self.pointcloud_map_filter_param["map_loader_radius"] - self.publish_debug_pcd = self.pointcloud_map_filter_param["publish_debug_pcd"] self.use_pointcloud_map = LaunchConfiguration("use_pointcloud_map").perform(context) def create_pipeline(self): @@ -116,16 +107,10 @@ def create_compare_map_pipeline(self): ("kinematic_state", "/localization/kinematic_state"), ], parameters=[ + self.pointcloud_map_filter_param, { - "distance_threshold": self.distance_threshold, - "downsize_ratio_z_axis": self.downsize_ratio_z_axis, - "timer_interval_ms": self.timer_interval_ms, - "use_dynamic_map_loading": self.use_dynamic_map_loading, - "map_update_distance_threshold": self.map_update_distance_threshold, - "map_loader_radius": self.map_loader_radius, - "publish_debug_pcd": self.publish_debug_pcd, "input_frame": "map", - } + }, ], extra_arguments=[ {"use_intra_process_comms": False},