feature: add *.param.yaml to manage parameters (autowarefoundation#50)

* make *.param.yaml in imgproc packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * make *.param.yaml in initializer packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * make *.param.yaml in map packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * make *.param.yaml in pf packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * make *.param.yaml in twist packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix expressway parameter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix override_frame_id Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove default parameters Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix some remaining invalida parameters Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
KYabuuchi · May 31, 2023 · 15f9ff5 · 15f9ff5
1 parent 13f68b6
commit 15f9ff5
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Showing 58 changed files with 360 additions and 259 deletions.
diff --git a/localization/yabloc/imgproc/graph_segment/CMakeLists.txt b/localization/yabloc/imgproc/graph_segment/CMakeLists.txt
@@ -32,4 +32,4 @@ target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS})
 target_link_libraries(${TARGET} ${OpenCV_LIBS})
 
 # ===================================================
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE config)
diff --git a/localization/yabloc/imgproc/graph_segment/config/graph_segment.param.yaml b/localization/yabloc/imgproc/graph_segment/config/graph_segment.param.yaml
@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+      # graph_node selects a road surface area from around this height
+      target_height_ratio: 0.85
+
+      #
+      target_candidate_box_width: 15
+
+      # graph_segment_node will pickup additional roadlike areas
+      pickup_additional_graph_segment: true
+
+      # used when the pickup_additional_graph_segment: true
+      similarity_score_threshold: 0.8
+
+      # parameters for cv::ximgproc::segmentation
+      sigma: 0.5
+      k: 300.0
+      min_size: 100.0
diff --git a/localization/yabloc/imgproc/graph_segment/src/graph_segment_core.cpp b/localization/yabloc/imgproc/graph_segment/src/graph_segment_core.cpp
@@ -25,8 +25,8 @@ namespace yabloc::graph_segment
 {
 GraphSegment::GraphSegment()
 : Node("graph_segment"),
-  target_height_ratio_(declare_parameter<float>("target_height_ratio", 0.85)),
-  target_candidate_box_width_(declare_parameter<int>("target_candidate_box_width", 15))
+  target_height_ratio_(declare_parameter<float>("target_height_ratio")),
+  target_candidate_box_width_(declare_parameter<int>("target_candidate_box_width"))
 {
   using std::placeholders::_1;
 
@@ -37,15 +37,15 @@ GraphSegment::GraphSegment()
   pub_mask_image_ = create_publisher<Image>("mask_image", 10);
   pub_debug_image_ = create_publisher<Image>("segmented_image", 10);
 
-  const double sigma = declare_parameter<double>("sigma", 0.5);
-  const float k = declare_parameter<float>("k", 300);
-  const int min_size = declare_parameter<double>("min_size", 100);
+  const double sigma = declare_parameter<double>("sigma");
+  const float k = declare_parameter<float>("k");
+  const int min_size = declare_parameter<double>("min_size");
   segmentation_ = cv::ximgproc::segmentation::createGraphSegmentation(sigma, k, min_size);
 
   // additional area pickup module
   if (declare_parameter<bool>("pickup_additional_areas", true)) {
-    similar_area_searcher_ = std::make_unique<SimilarAreaSearcher>(
-      declare_parameter<float>("similarity_score_threshold", 0.8));
+    similar_area_searcher_ =
+      std::make_unique<SimilarAreaSearcher>(declare_parameter<float>("similarity_score_threshold"));
   }
 }
 

diff --git a/localization/yabloc/imgproc/segment_filter/CMakeLists.txt b/localization/yabloc/imgproc/segment_filter/CMakeLists.txt
@@ -36,4 +36,4 @@ target_include_directories(${TARGET} PUBLIC include ${EIGEN3_INCLUDE_DIRS} ${PCL
 target_link_libraries(${TARGET} ${PCL_LIBRARIES} ${OpenCV_LIBS})
 
 # ===================================================
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE config)
diff --git a/localization/yabloc/imgproc/segment_filter/config/segment_filter.param.yaml b/localization/yabloc/imgproc/segment_filter/config/segment_filter.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    min_segment_length:  1.5    # if it is negative, it is unlimited
+    max_segment_distance:  30.0 # if it is negative, it is unlimited
+    max_lateral_distance: 10.0  # if it is negative, it is unlimited
+    publish_image_with_segment_for_debug: true
+    max_range: 20.0
+    image_size: 800 # debug
diff --git a/localization/yabloc/imgproc/segment_filter/src/segment_filter_core.cpp b/localization/yabloc/imgproc/segment_filter/src/segment_filter_core.cpp
@@ -25,11 +25,11 @@ namespace yabloc::segment_filter
 {
 SegmentFilter::SegmentFilter()
 : Node("segment_filter"),
-  image_size_(declare_parameter<int>("image_size", 800)),
-  max_range_(declare_parameter<float>("max_range", 20.f)),
-  min_segment_length_(declare_parameter<float>("min_segment_length", -1)),
-  max_segment_distance_(declare_parameter<float>("max_segment_distance", -1)),
-  max_lateral_distance_(declare_parameter<float>("max_lateral_distance", -1)),
+  image_size_(declare_parameter<int>("image_size")),
+  max_range_(declare_parameter<float>("max_range")),
+  min_segment_length_(declare_parameter<float>("min_segment_length")),
+  max_segment_distance_(declare_parameter<float>("max_segment_distance")),
+  max_lateral_distance_(declare_parameter<float>("max_lateral_distance")),
   info_(this),
   synchro_subscriber_(this, "line_segments_cloud", "mask_image"),
   tf_subscriber_(this->get_clock())
@@ -92,14 +92,16 @@ void SegmentFilter::execute(const PointCloud2 & line_segments_msg, const Image &
 
   const rclcpp::Time stamp = line_segments_msg.header.stamp;
 
-  pcl::PointCloud<pcl::PointNormal>::Ptr line_segments_cloud{new pcl::PointCloud<pcl::PointNormal>()};
+  pcl::PointCloud<pcl::PointNormal>::Ptr line_segments_cloud{
+    new pcl::PointCloud<pcl::PointNormal>()};
   cv::Mat mask_image = common::decompress_to_cv_mat(segment_msg);
   pcl::fromROSMsg(line_segments_msg, *line_segments_cloud);
 
   const std::set<int> indices = filt_by_mask(mask_image, *line_segments_cloud);
 
   pcl::PointCloud<pcl::PointNormal> valid_edges = project_lines(*line_segments_cloud, indices);
-  pcl::PointCloud<pcl::PointNormal> invalid_edges = project_lines(*line_segments_cloud, indices, true);
+  pcl::PointCloud<pcl::PointNormal> invalid_edges =
+    project_lines(*line_segments_cloud, indices, true);
 
   // Projected line segments
   {
@@ -141,12 +143,14 @@ void SegmentFilter::execute(const PointCloud2 & line_segments_msg, const Image &
   {
     pcl::PointCloud<pcl::PointXYZLNormal> combined_debug_edges;
     for (size_t index = 0; index < line_segments_cloud->size(); ++index) {
-      const pcl::PointNormal& pn = line_segments_cloud->at(index);
+      const pcl::PointNormal & pn = line_segments_cloud->at(index);
       pcl::PointXYZLNormal pln;
       pln.getVector3fMap() = pn.getVector3fMap();
       pln.getNormalVector3fMap() = pn.getNormalVector3fMap();
-      if (indices.count(index) > 0) pln.label = 255;
-      else pln.label = 0;
+      if (indices.count(index) > 0)
+        pln.label = 255;
+      else
+        pln.label = 0;
       combined_debug_edges.push_back(pln);
     }
     common::publish_cloud(*pub_debug_cloud_, combined_debug_edges, stamp);

diff --git a/localization/yabloc/imgproc/undistort/CMakeLists.txt b/localization/yabloc/imgproc/undistort/CMakeLists.txt
@@ -27,4 +27,4 @@ ament_auto_add_executable(${TARGET} src/undistort_node.cpp)
 target_link_libraries(${TARGET} ${OpenCV_LIBS})
 
 # ===================================================
-ament_auto_package(INSTALL_TO_SHARE launch)
+ament_auto_package(INSTALL_TO_SHARE launch config)
diff --git a/localization/yabloc/imgproc/undistort/config/undistort.param.yaml b/localization/yabloc/imgproc/undistort/config/undistort.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    use_sensor_qos: true
+    width: 800
+    override_frame_id: "" # Value for overriding the camera's frame_id. If blank, frame_id of static_tf is not overwritten
diff --git a/localization/yabloc/imgproc/undistort/src/undistort_node.cpp b/localization/yabloc/imgproc/undistort/src/undistort_node.cpp
@@ -39,13 +39,13 @@ class UndistortNode : public rclcpp::Node
 
   UndistortNode()
   : Node("undistort"),
-    OUTPUT_WIDTH(declare_parameter("width", 800)),
-    OVERRIDE_FRAME_ID(declare_parameter("override_frame_id", ""))
+    OUTPUT_WIDTH(declare_parameter<int>("width")),
+    OVERRIDE_FRAME_ID(declare_parameter<std::string>("override_frame_id"))
   {
     using std::placeholders::_1;
 
     rclcpp::QoS qos{10};
-    if (declare_parameter("use_sensor_qos", false)) {
+    if (declare_parameter<bool>("use_sensor_qos")) {
       qos = rclcpp::QoS(10).durability_volatile().best_effort();
     }
 

diff --git a/localization/yabloc/initializer/camera_pose_initializer/CMakeLists.txt b/localization/yabloc/initializer/camera_pose_initializer/CMakeLists.txt
@@ -41,4 +41,4 @@ target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL
 target_link_libraries(${TARGET} ${PCL_LIBRARIES} Sophus::Sophus)
 
 # ===================================================
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE config)
diff --git a/...tion/yabloc/initializer/camera_pose_initializer/config/camera_pose_initializer.param.yaml b/...tion/yabloc/initializer/camera_pose_initializer/config/camera_pose_initializer.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    angle_resolution: 30
diff --git a/localization/yabloc/initializer/camera_pose_initializer/src/camera_pose_initializer_core.cpp b/localization/yabloc/initializer/camera_pose_initializer/src/camera_pose_initializer_core.cpp
@@ -26,7 +26,7 @@
 namespace yabloc
 {
 CameraPoseInitializer::CameraPoseInitializer()
-: Node("camera_pose_initializer"), angle_resolution_{declare_parameter("angle_resolution", 30)}
+: Node("camera_pose_initializer"), angle_resolution_{declare_parameter<int>("angle_resolution")}
 {
   using std::placeholders::_1;
   using std::placeholders::_2;

diff --git a/localization/yabloc/initializer/particle_initializer/CMakeLists.txt b/localization/yabloc/initializer/particle_initializer/CMakeLists.txt
@@ -29,4 +29,4 @@ target_include_directories(${TARGET} PUBLIC include)
 target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS})
 
 # ===================================================
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE config)
diff --git a/localization/yabloc/initializer/particle_initializer/config/particle_initializer.param.yaml b/localization/yabloc/initializer/particle_initializer/config/particle_initializer.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    cov_xx_yy: [2.0,0.25]
diff --git a/...oc/initializer/particle_initializer/include/particle_initializer/particle_initializer.hpp b/...oc/initializer/particle_initializer/include/particle_initializer/particle_initializer.hpp
@@ -31,7 +31,7 @@ class ParticleInitializer : public rclcpp::Node
   ParticleInitializer();
 
 private:
-  const Eigen::Vector2d cov_xx_yy_;
+  const std::vector<double> cov_xx_yy_;
   rclcpp::Subscription<PoseCovStamped>::SharedPtr sub_initialpose_;
   rclcpp::Publisher<PoseCovStamped>::SharedPtr pub_initialpose_;
   rclcpp::Publisher<Marker>::SharedPtr pub_marker_;

diff --git a/localization/yabloc/initializer/particle_initializer/src/particle_initializer_core.cpp b/localization/yabloc/initializer/particle_initializer/src/particle_initializer_core.cpp
@@ -18,7 +18,7 @@ namespace yabloc::modularized_particle_filter
 {
 ParticleInitializer::ParticleInitializer()
 : Node("particle_initializer"),
-  cov_xx_yy_{declare_parameter("cov_xx_yy", std::vector<double>{4.0, 0.25}).data()}
+  cov_xx_yy_{this->template declare_parameter<std::vector<double>>("cov_xx_yy")}
 {
   using std::placeholders::_1;
 
@@ -101,7 +101,7 @@ ParticleInitializer::PoseCovStamped ParticleInitializer::rectify_initial_pose(
   msg.pose.pose.orientation.z = std::sin(theta / 2);
 
   Eigen::Matrix2f cov;
-  cov << cov_xx_yy_(0), 0, 0, cov_xx_yy_(1);
+  cov << cov_xx_yy_.at(0), 0, 0, cov_xx_yy_.at(1);
   Eigen::Rotation2D r(theta);
   cov = r * cov * r.inverse();
 

diff --git a/localization/yabloc/map/ground_server/CMakeLists.txt b/localization/yabloc/map/ground_server/CMakeLists.txt
@@ -44,4 +44,4 @@ target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL
 target_link_libraries(${TARGET} ${PCL_LIBRARIES} Sophus::Sophus glog::glog)
 
 # ===================================================
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE config)
diff --git a/localization/yabloc/map/ground_server/config/ground_server.param.yaml b/localization/yabloc/map/ground_server/config/ground_server.param.yaml
@@ -0,0 +1,5 @@
+/**: 
+  ros__parameters:
+    force_zero_tilt: false
+    K: 50
+    R: 10
diff --git a/localization/yabloc/map/ground_server/src/ground_server_core.cpp b/localization/yabloc/map/ground_server/src/ground_server_core.cpp
@@ -32,9 +32,9 @@ namespace yabloc ::ground_server
 {
 GroundServer::GroundServer()
 : Node("ground_server"),
-  force_zero_tilt_(declare_parameter("force_zero_tilt", false)),
-  R(declare_parameter("R", 20)),
-  K(declare_parameter("K", 50))
+  force_zero_tilt_(declare_parameter<bool>("force_zero_tilt")),
+  R(declare_parameter<int>("R")),
+  K(declare_parameter<int>("K"))
 {
   using std::placeholders::_1;
   using std::placeholders::_2;

diff --git a/localization/yabloc/map/ll2_decomposer/CMakeLists.txt b/localization/yabloc/map/ll2_decomposer/CMakeLists.txt
@@ -33,13 +33,13 @@ target_include_directories(ll2_util PUBLIC include 3rd/regulatory_elements/inclu
 
 # ===================================================
 # Executable
-set(TARGET ll2_decompose_node)
+set(TARGET ll2_decomposer_node)
 ament_auto_add_executable(${TARGET}
-  src/ll2_decompose_core.cpp
-  src/ll2_decompose_node.cpp)
+  src/ll2_decomposer_core.cpp
+  src/ll2_decomposer_node.cpp)
 target_include_directories(${TARGET} PUBLIC include)
 target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
 target_link_libraries(${TARGET} ${PCL_LIBRARIES} ll2_util)
 
 # ===================================================
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE config)
diff --git a/localization/yabloc/map/ll2_decomposer/config/ll2_decomposer.param.yaml b/localization/yabloc/map/ll2_decomposer/config/ll2_decomposer.param.yaml
@@ -0,0 +1,5 @@
+/**: 
+  ros__parameters:
+    road_marking_labels: [cross_walk, zebra_marking, line_thin, line_thick, pedestrian_marking, stop_line, road_border]
+    sign_board_labels: [sign-board]
+    bounding_box_labels: [none]
diff --git a/...ll2_decomposer/src/ll2_decompose_core.cpp → ...l2_decomposer/src/ll2_decomposer_core.cpp b/...ll2_decomposer/src/ll2_decompose_core.cpp → ...l2_decomposer/src/ll2_decomposer_core.cpp
@@ -43,7 +43,7 @@ Ll2Decomposer::Ll2Decomposer() : Node("ll2_to_image")
 
   auto load_lanelet2_labels =
     [this](const std::string & param_name, std::set<std::string> & labels) -> void {
-    declare_parameter(param_name, std::vector<std::string>{});
+    this->template declare_parameter<std::vector<std::string>>(param_name);
     auto label_array = get_parameter(param_name).as_string_array();
     for (auto l : label_array) labels.insert(l);
   };

diff --git a/...ll2_decomposer/src/ll2_decompose_node.cpp → ...l2_decomposer/src/ll2_decomposer_node.cpp b/...ll2_decomposer/src/ll2_decompose_node.cpp → ...l2_decomposer/src/ll2_decomposer_node.cpp
diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/CMakeLists.txt b/localization/yabloc/particle_filter/camera_particle_corrector/CMakeLists.txt
@@ -42,4 +42,4 @@ target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL
 target_link_libraries(${TARGET} Sophus::Sophus ${PCL_LIBRARIES} glog::glog)
 
 # ===================================================
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE config)
diff --git a/...loc/particle_filter/camera_particle_corrector/config/camera_particle_corrector.param.yaml b/...loc/particle_filter/camera_particle_corrector/config/camera_particle_corrector.param.yaml
@@ -0,0 +1,14 @@
+/**: 
+  ros__parameters:
+    # Declared in AbstParticleCorrector
+    acceptable_max_delay: 1.0
+    visualize: false
+
+    # Declared in ll2_cost_map 
+    image_size: 800 # cost map image made by lanelet2
+    max_range: 40.0 # [m] a cost map scale size
+    gamma: 5.0 # cost map intensity gradient
+
+    min_prob: 0.1 # minimum weight of particles
+    far_weight_gain: 0.001 # exp(-far_weight_gain_ * squared_norm) is multiplied earch measurement
+    enabled_at_first: true # developing feature
diff --git a/...n/yabloc/particle_filter/camera_particle_corrector/src/camera_particle_corrector_core.cpp b/...n/yabloc/particle_filter/camera_particle_corrector/src/camera_particle_corrector_core.cpp
@@ -31,14 +31,14 @@ FastCosSin fast_math;
 
 CameraParticleCorrector::CameraParticleCorrector()
 : AbstCorrector("camera_particle_corrector"),
-  min_prob_(declare_parameter<float>("min_prob", 0.01)),
-  far_weight_gain_(declare_parameter<float>("far_weight_gain", 0.001)),
+  min_prob_(declare_parameter<float>("min_prob")),
+  far_weight_gain_(declare_parameter<float>("far_weight_gain")),
   cost_map_(this)
 {
   using std::placeholders::_1;
   using std::placeholders::_2;
 
-  enable_switch_ = declare_parameter<bool>("enabled_at_first", true);
+  enable_switch_ = declare_parameter<bool>("enabled_at_first");
 
   // Publication
   pub_image_ = create_publisher<Image>("match_image", 10);

diff --git a/localization/yabloc/particle_filter/gnss_particle_corrector/CMakeLists.txt b/localization/yabloc/particle_filter/gnss_particle_corrector/CMakeLists.txt
@@ -40,4 +40,4 @@ target_include_directories(${TARGET} PUBLIC SYSTEM ${GeographicLib_INCLUDE_DIRS}
 target_link_libraries(${TARGET} Sophus::Sophus)
 
 # ===================================================
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE config)
diff --git a/.../yabloc/particle_filter/gnss_particle_corrector/config/gnss_particle_corrector.param.yaml b/.../yabloc/particle_filter/gnss_particle_corrector/config/gnss_particle_corrector.param.yaml
@@ -0,0 +1,19 @@
+/**: 
+  ros__parameters:
+    # Declared in AbstParticleCorrector
+    acceptable_max_delay: 1.0
+    visualize: false
+
+    mahalanobis_distance_threshold: 30.0 # If the distance to GNSS observation exceeds this, the correction is skipped.
+    use_ublox_msg: true # Raw sensor data should not be used when running as Autoware.
+    ignore_less_than_float: false
+    # 
+    for_fixed/max_weight: 5.0
+    for_fixed/flat_radius: 0.5
+    for_fixed/max_radius: 10.0
+    for_fixed/min_weight: 0.5
+    #
+    for_not_fixed/flat_radius: 5.0
+    for_not_fixed/max_radius: 20.0
+    for_not_fixed/min_weight: 0.5
+    for_not_fixed/max_weight: 1.0
diff --git a/...article_filter/gnss_particle_corrector/include/gnss_particle_corrector/weight_manager.hpp b/...article_filter/gnss_particle_corrector/include/gnss_particle_corrector/weight_manager.hpp
@@ -38,16 +38,16 @@ struct WeightManager
 
   WeightManager(rclcpp::Node * node)
   {
-    for_fixed_.flat_radius_ = node->declare_parameter("for_fixed/flat_radius", 0.5f);
-    for_fixed_.max_radius_ = node->declare_parameter("for_fixed/max_radius", 10.0f);
-    for_fixed_.min_weight_ = node->declare_parameter("for_fixed/min_weight", 0.5f);
-    for_fixed_.max_weight_ = node->declare_parameter("for_fixed/max_weight", 1.5f);
+    for_fixed_.flat_radius_ = node->declare_parameter<float>("for_fixed/flat_radius");
+    for_fixed_.max_radius_ = node->declare_parameter<float>("for_fixed/max_radius");
+    for_fixed_.min_weight_ = node->declare_parameter<float>("for_fixed/min_weight");
+    for_fixed_.max_weight_ = node->declare_parameter<float>("for_fixed/max_weight");
     for_fixed_.compute_coeff();
 
-    for_not_fixed_.flat_radius_ = node->declare_parameter("for_not_fixed/flat_radius", 5.0f);
-    for_not_fixed_.max_radius_ = node->declare_parameter("for_not_fixed/max_radius", 20.0f);
-    for_not_fixed_.min_weight_ = node->declare_parameter("for_not_fixed/min_weight", 0.5f);
-    for_not_fixed_.max_weight_ = node->declare_parameter("for_not_fixed/max_weight", 1.0f);
+    for_not_fixed_.flat_radius_ = node->declare_parameter<float>("for_not_fixed/flat_radius");
+    for_not_fixed_.max_radius_ = node->declare_parameter<float>("for_not_fixed/max_radius");
+    for_not_fixed_.min_weight_ = node->declare_parameter<float>("for_not_fixed/min_weight");
+    for_not_fixed_.max_weight_ = node->declare_parameter<float>("for_not_fixed/max_weight");
     for_not_fixed_.compute_coeff();
   }
 

diff --git a/localization/yabloc/particle_filter/gnss_particle_corrector/src/gnss_corrector_core.cpp b/localization/yabloc/particle_filter/gnss_particle_corrector/src/gnss_corrector_core.cpp
@@ -23,8 +23,8 @@ namespace yabloc::modularized_particle_filter
 {
 GnssParticleCorrector::GnssParticleCorrector()
 : AbstCorrector("gnss_particle_corrector"),
-  ignore_less_than_float_(declare_parameter<bool>("ignore_less_than_float", true)),
-  mahalanobis_distance_threshold_(declare_parameter<float>("mahalanobis_distance_threshold", 20.0)),
+  ignore_less_than_float_(declare_parameter<bool>("ignore_less_than_float")),
+  mahalanobis_distance_threshold_(declare_parameter<float>("mahalanobis_distance_threshold")),
   weight_manager_(this)
 {
   using std::placeholders::_1;
@@ -33,7 +33,7 @@ GnssParticleCorrector::GnssParticleCorrector()
   auto on_pose = std::bind(&GnssParticleCorrector::on_pose, this, _1);
   auto on_ublox = std::bind(&GnssParticleCorrector::on_ublox, this, _1);
   auto on_height = [this](const Float32 & height) { this->latest_height_ = height; };
-  if (declare_parameter<bool>("use_ublox_msg", true)) {
+  if (declare_parameter<bool>("use_ublox_msg")) {
     ublox_sub_ = create_subscription<NavPVT>("input/navpvt", 10, on_ublox);
   } else {
     pose_sub_ = create_subscription<PoseCovStamped>("input/pose_with_covariance", 10, on_pose);