From 0ea53eacde05e18aad742cb7dd085ace7628cfe0 Mon Sep 17 00:00:00 2001
From: scepter914 <scepter914@gmail.com>
Date: Mon, 29 Jan 2024 16:28:57 +0900
Subject: [PATCH 1/2] fix(autoware_launch): add config file

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../radar_crossing_objects_noise_filter.param.yaml          | 4 ++++
 .../launch/components/tier4_perception_component.launch.xml | 6 +++++-
 2 files changed, 9 insertions(+), 1 deletion(-)
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml

diff --git a/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml
new file mode 100644
index 0000000000..f52edf641f
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    angle_threshold: 1.2210
+    velocity_threshold: 1.5
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 8636141685..2b2d37dd78 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -80,7 +80,11 @@
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml"
     />
     <arg
-      name="object_recognition_detection_radar_lanelet_filtering_range_param"
+      name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml"
+      />
+    <arg
+      name="object_recognition_detection_radar_lanelet_filtering_range_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml"
     />
     <arg

From 2a0cdc474a8ea4b98ec98f1ed7bbe1d676d49254 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 29 Jan 2024 07:34:43 +0000
Subject: [PATCH 2/2] style(pre-commit): autofix

---
 .../launch/components/tier4_perception_component.launch.xml     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 2b2d37dd78..5feedf3c6e 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -82,7 +82,7 @@
     <arg
       name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml"
-      />
+    />
     <arg
       name="object_recognition_detection_radar_lanelet_filtering_range_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml"