feat(map_based_prediction): add prediction parameter (#545)

* use autoware utils

* add parameter file

* revert change

perception/map_based_prediction/config/map_based_prediction.param.yaml

@@ -0,0 +1,17 @@
+/**:
+  ros__parameters:
+    enable_delay_compensation: true
+    prediction_time_horizon: 10.0 #[s]
+    prediction_sampling_delta_time: 0.5 #[s]
+    min_velocity_for_map_based_prediction: 1.0 #[m/s]
+    dist_threshold_for_searching_lanelet: 3.0 #[m]
+    delta_yaw_threshold_for_searching_lanelet: 0.785 #[rad]
+    sigma_lateral_offset: 0.5 #[m]
+    sigma_yaw_angle_deg: 5.0 #[angle degree]
+    object_buffer_time_length: 2.0 #[s]
+    history_time_length: 1.0 #[s]
+    dist_ratio_threshold_to_left_bound: -0.5 #[ratio]
+    dist_ratio_threshold_to_right_bound: 0.5 #[ratio
+    diff_dist_threshold_to_left_bound: 0.29 #[m]
+    diff_dist_threshold_to_right_bound: -0.29 #[m]
+    reference_path_resolution: 0.5 #[m]

perception/map_based_prediction/launch/map_based_prediction.launch.xml

@@ -1,39 +1,13 @@
 <?xml version="1.0" ?>
 
 <launch>
-  <arg name="enable_delay_compensation" default="true" />
-  <arg name="prediction_time_horizon" default="10.0" />
-  <arg name="prediction_sampling_delta_time" default="0.5" />
-  <arg name="min_velocity_for_map_based_prediction" default="1.0" />
-  <arg name="dist_threshold_for_searching_lanelet" default="3.0" />
-  <arg name="delta_yaw_threshold_for_searching_lanelet" default="0.785" />
-  <arg name="sigma_lateral_offset" default="0.5" /> <!-- [m]-->
-  <arg name="sigma_yaw_angle_deg" default="5.0" /> <!-- [angle degree] -->
-  <arg name="object_buffer_time_length" default="2.0" /> <!-- [s] -->
-  <arg name="history_time_length" default="1.0" /> <!-- [s] -->
-  <arg name="dist_ratio_threshold_to_left_bound" default="-0.5" /> <!-- [ratio] -->
-  <arg name="dist_ratio_threshold_to_right_bound" default="0.5" /> <!-- [ratio] -->
-  <arg name="diff_dist_threshold_to_left_bound" default="0.29" /> <!-- [m] -->
-  <arg name="diff_dist_threshold_to_right_bound" default="-0.29" /> <!-- [m] -->
-  <arg name="reference_path_resolution" default="0.5" /> <!-- [m] -->
+  <arg name="param_path" default="$(find-pkg-share map_based_prediction)/config/map_based_prediction.param.yaml" />
+
   <arg name="vector_map_topic" default="/map/vector_map" />
   <arg name="output_topic" default="objects"/>
+
   <node pkg="map_based_prediction" exec="map_based_prediction" name="map_based_prediction" output="screen">
-    <param name="enable_delay_compensation" value="$(var enable_delay_compensation)" />
-    <param name="perception_time_horizon" value="$(var prediction_time_horizon)" />
-    <param name="prediction_sampling_delta_time" value="$(var prediction_sampling_delta_time)" />
-    <param name="min_velocity_for_map_based_prediction" value="$(var min_velocity_for_map_based_prediction)" />
-    <param name="dist_threshold_for_searching_lanelet" value="$(var dist_threshold_for_searching_lanelet)" />
-    <param name="delta_yaw_threshold_for_searching_lanelet" value="$(var delta_yaw_threshold_for_searching_lanelet)" />
-    <param name="sigma_lateral_offset" value="$(var sigma_lateral_offset)" />
-    <param name="sigma_yaw_angle_deg" value="$(var sigma_yaw_angle_deg)" />
-    <param name="object_buffer_time_length" value="$(var object_buffer_time_length)" />
-    <param name="history_time_length" value="$(var history_time_length)" />
-    <param name="dist_ratio_threshold_to_left_bound" value="$(var dist_ratio_threshold_to_left_bound)" />
-    <param name="dist_ratio_threshold_to_right_bound" value="$(var dist_ratio_threshold_to_right_bound)" />
-    <param name="diff_dist_threshold_to_left_bound" value="$(var diff_dist_threshold_to_left_bound)" />
-    <param name="diff_dist_threshold_to_right_bound" value="$(var diff_dist_threshold_to_right_bound)" />
-    <param name="reference_path_resolution" value="$(var reference_path_resolution)" />
+    <param from="$(var param_path)" />
     <remap from="/vector_map" to="$(var vector_map_topic)"/>
     <remap from="objects" to="$(var output_topic)"/>
   </node>