create launch and config

Signed-off-by: Autumn60 <[email protected]>

src/perception/ground_segmentation/config/ransac_ground_filter.param.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    footprint_frame: base_link
+    leaf_size: 0.1
+    distance_threshold: 0.3
+    max_iterations: 1000
+    slope_threshold: 10.0

src/perception/ground_segmentation/launch/ground_segmentation.launch.xml

@@ -0,0 +1,14 @@
+<launch>
+  <arg name="method" default="ransac"/>
+
+  <arg name="input_points_topic" default="/velodyne_points"/>
+  <arg name="output_points_topic" default="/velodyne_points/obstacle"/>
+
+  <arg name="config_file" default="$(find-pkg-share ground_segmentation)/config/$(var method)_ground_filter.param.yaml"/>
+
+  <node pkg="ground_segmentation" name="$(var method)_ground_filter" exec="$(var method)_ground_filter_node" output="screen">
+    <remap from="~/input/points" to="$(var input_points_topic)"/>
+    <remap from="~/output/points" to="$(var output_points_topic)"/>
+    <param from="$(var config_file)"/>
+  </node>
+</launch>

src/perception/ground_segmentation/src/ransac_ground_filter/ransac_ground_filter.cpp

@@ -19,11 +19,11 @@ namespace ground_segmentation::ransac_ground_filter
 RANSACGroundFilter::RANSACGroundFilter(const rclcpp::NodeOptions & options)
 : GroundFilter("ransac_ground_filter", options)
 {
-  footprint_frame_ = get_parameter("footprint_frame").as_string();
-  leaf_size_ = get_parameter("leaf_size").as_double();
-  distance_threshold_ = get_parameter("distance_threshold").as_double();
-  max_iterations_ = get_parameter("max_iterations").as_int();
-  slope_threshold_rad_ = get_parameter("slope_threshold").as_double() * M_PI / 180.0;
+  footprint_frame_ = declare_parameter<std::string>("footprint_frame", "base_link");
+  leaf_size_ = declare_parameter<double>("leaf_size", 0.1);
+  distance_threshold_ = declare_parameter<double>("distance_threshold", 0.1);
+  max_iterations_ = declare_parameter<int>("max_iterations", 1000);
+  slope_threshold_rad_ = declare_parameter<double>("slope_threshold", 10.0) * M_PI / 180.0;
 }
 
 bool RANSACGroundFilter::filter(const PointCloud2 & input, PointCloud2 & output)