refactor(traffic_light_arbiter): add traffic_light_arbiter param file (…

…autowarefoundation#343) refactor(traffic_light_arbiter): add traffic_light_arbiter param file (autowarefoundation#489) Signed-off-by: Tomohito Ando <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
maxime-clem · Aug 7, 2023 · 0672641 · 0672641
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commit 0672641
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diff --git a/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    external_time_tolerance: 5.0
+    perception_time_tolerance: 1.0
+    external_priority: false
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -41,5 +41,8 @@
     />
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
     <arg name="occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml"/>
+
+    <!-- traffic light recognition -->
+    <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
   </include>
 </launch>