fix: remove expected interval, add spawn

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
autowarefoundation · May 14, 2024 · 24592df · 24592df
1 parent d293aa7
commit 24592df
Showing 1 changed file with 12 additions and 12 deletions.
diff --git a/...fig/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml b/...fig/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml
@@ -3,79 +3,79 @@
     input_channels:
       detected_objects:
         topic: "/perception/object_recognition/detection/objects"
-        expected_interval: 0.1
+        can_spawn_new_tracker: true
         optional:
           name: "detected_objects"
           short_name: "all"
       # LIDAR - rule-based
       lidar_clustering:
         topic: "/perception/object_recognition/detection/clustering/objects"
-        expected_interval: 0.1
+        can_spawn_new_tracker: true
         optional:
           name: "clustering"
           short_name: "Lcl"
       # LIDAR - DNN
       lidar_centerpoint:
         topic: "/perception/object_recognition/detection/centerpoint/objects"
-        expected_interval: 0.1
+        can_spawn_new_tracker: true
         optional:
           name: "centerpoint"
           short_name: "Lcp"
       lidar_centerpoint_validated:
         topic: "/perception/object_recognition/detection/centerpoint/validation/objects"
-        expected_interval: 0.1
+        can_spawn_new_tracker: true
         optional:
           name: "centerpoint"
           short_name: "Lcp"
       lidar_apollo:
         topic: "/perception/object_recognition/detection/apollo/objects"
-        expected_interval: 0.1
+        can_spawn_new_tracker: true
         optional:
           name: "apollo"
           short_name: "Lap"
       lidar_apollo_validated:
         topic: "/perception/object_recognition/detection/apollo/validation/objects"
-        expected_interval: 0.1
+        can_spawn_new_tracker: true
         optional:
           name: "apollo"
           short_name: "Lap"
       # LIDAR-CAMERA - DNN
+      # cspell:ignore lidar_pointpainitng pointpainting
       lidar_pointpainitng:
         topic: "/perception/object_recognition/detection/pointpainting/objects"
-        expected_interval: 0.1
+        can_spawn_new_tracker: true
         optional:
           name: "pointpainting"
           short_name: "Lpp"
       lidar_pointpainting_validated:
         topic: "/perception/object_recognition/detection/pointpainting/validation/objects"
-        expected_interval: 0.1
         optional:
           name: "pointpainting"
           short_name: "Lpp"
       # CAMERA-LIDAR
       camera_lidar_fusion:
         topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects"
-        expected_interval: 0.1
+        can_spawn_new_tracker: false
         optional:
           name: "camera_lidar_fusion"
           short_name: "CLf"
       # CAMERA-LIDAR+TRACKER
       detection_by_tracker:
         topic: "/perception/object_recognition/detection/detection_by_tracker/objects"
-        expected_interval: 0.1
+        can_spawn_new_tracker: false
         optional:
           name: "detection_by_tracker"
           short_name: "dbT"
       # RADAR
       radar:
         topic: "/sensing/radar/detected_objects"
-        expected_interval: 0.0333
+        can_spawn_new_tracker: true
         optional:
           name: "radar"
           short_name: "R"
       radar_far:
         topic: "/perception/object_recognition/detection/radar/far_objects"
-        expected_interval: 0.0333
+        can_spawn_new_tracker: true
         optional:
           name: "radar_far"
           short_name: "Rf"