fix(tracking_object_merger): fix unintended error in radar tracking m…

…erger (#5328) * fix: fix tracking merger node Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix: unintended condition setting Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
autowarefoundation · Oct 17, 2023 · d38beae · d38beae
1 parent 0c7ef98
commit d38beae
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diff --git a/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -411,7 +411,7 @@
 
   <!-- Merge far_objects and near_objects in detection stage.
       Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
-  <group if="$(var use_radar_tracking_fusion)">
+  <group unless="$(var use_radar_tracking_fusion)">
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="near_objects"/>
       <arg name="input/object1" value="radar/far_objects"/>

diff --git a/perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp b/perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp
@@ -27,8 +27,12 @@
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
 #include <geometry_msgs/msg/polygon.hpp>
 #include <geometry_msgs/msg/vector3.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Transform.h>
+#include <tf2/convert.h>
+#include <tf2/transform_datatypes.h>
 #include <tf2/utils.h>
 
 #include <cmath>