From 1121f3b2a5a298ac474835522b97e84d9301dd9a Mon Sep 17 00:00:00 2001
From: Tao Zhong <55872497+tzhong518@users.noreply.github.com>
Date: Sat, 10 Feb 2024 23:22:31 +0900
Subject: [PATCH] chore(traffic_light_map_based_detector): rework parameters
 (#6200)

* chore: use config

Signed-off-by: tzhong518 <sworgun@gmail.com>

* chore: use config

Signed-off-by: tzhong518 <sworgun@gmail.com>

* fix: revert min_timestamp_offset

Signed-off-by: tzhong518 <sworgun@gmail.com>

* fix: revert min_timestamp_offset

Signed-off-by: tzhong518 <sworgun@gmail.com>

* fix: delete param

Signed-off-by: tzhong518 <sworgun@gmail.com>

* style(pre-commit): autofix

* Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

* Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

* Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

* revert: revert change in min&max timestamp offset

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: tzhong518 <sworgun@gmail.com>
Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: kminoda <koji.minoda@tier4.jp>
---
 .../traffic_light_recognition/traffic_light.launch.xml | 10 ++++++----
 .../config/traffic_light_map_based_detector.param.yaml |  1 +
 .../launch/traffic_light_map_based_detector.launch.xml |  5 +----
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
index dacdad933ebf8..aa47d094d824e 100644
--- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
+++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
@@ -46,10 +46,11 @@
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
           <arg name="input/camera_info" value="$(var input/camera_info)"/>
-          <arg name="min_timestamp_offset" value="-0.3"/>
           <arg name="expect/rois" value="expect/rois"/>
           <arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
-          <arg name="output/camera_info" value="camera_info"/>
+          <!-- This parameter should be configured differently for each camera considering their delay. -->
+          <arg name="min_timestamp_offset" value="-0.3"/>
+          <arg name="max_timestamp_offset" value="0.0"/>
         </include>
       </group>
 
@@ -100,10 +101,11 @@
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
           <arg name="input/camera_info" value="$(var input/camera_info)"/>
-          <arg name="min_timestamp_offset" value="-0.04"/>
           <arg name="expect/rois" value="expect/rois"/>
           <arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
-          <arg name="output/camera_info" value="camera_info"/>
+          <!-- This parameter should be configured differently for each camera considering their delay. -->
+          <arg name="min_timestamp_offset" value="-0.04"/>
+          <arg name="max_timestamp_offset" value="0.0"/>
         </include>
       </group>
 
diff --git a/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml b/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml
index 2eb671c1f5150..801e6b1bc8558 100644
--- a/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml
+++ b/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml
@@ -6,5 +6,6 @@
     max_vibration_width: 0.5             # -0.25 ~ 0.25 m
     max_vibration_depth: 0.5             # -0.25 ~ 0.25 m
     max_detection_range: 200.0
+    timestamp_sample_len: 0.02
     car_traffic_light_max_angle_range: 40.0
     pedestrian_traffic_light_max_angle_range: 80.0
diff --git a/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml b/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml
index 2dc6afa4fa4d5..3b7d7309e4325 100644
--- a/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml
+++ b/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml
@@ -5,12 +5,11 @@
   <arg name="input/route" default="/planning/mission_planning/route"/>
   <arg name="expect/rois" default="~/expect/rois"/>
   <arg name="output/rois" default="~/output/rois"/>
-  <arg name="output/camera_info" default="~/camera_info"/>
   <!--This parameter should be configured differently for each camera considering their delay.-->
   <arg name="min_timestamp_offset" default="0.0"/>
   <!--This parameter should be configured differently for each camera considering their delay.-->
   <arg name="max_timestamp_offset" default="0.0"/>
-  <arg name="timestamp_sample_len" default="0.02"/>
+
   <arg name="param_path" default="$(find-pkg-share traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml"/>
 
   <node pkg="traffic_light_map_based_detector" exec="traffic_light_map_based_detector_node" name="traffic_light_map_based_detector" output="screen">
@@ -19,10 +18,8 @@
     <remap from="~/expect/rois" to="$(var expect/rois)"/>
     <remap from="~/input/route" to="$(var input/route)"/>
     <remap from="~/output/rois" to="$(var output/rois)"/>
-    <remap from="~/output/camera_info" to="$(var output/camera_info)"/>
     <param from="$(var param_path)"/>
     <param name="min_timestamp_offset" value="$(var min_timestamp_offset)"/>
     <param name="max_timestamp_offset" value="$(var max_timestamp_offset)"/>
-    <param name="timestamp_sample_len" value="$(var timestamp_sample_len)"/>
   </node>
 </launch>