Merge pull request autowarefoundation#1094 from tier4/sync-beta-upstream

chore: sync beta upstream

Author: tier4-autoware-private-bot[bot]

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -2,8 +2,6 @@
   ros__parameters:
     additional_lidars: []
     ransac_input_topics: []
-    use_single_frame_filter: False
-    use_time_series_filter: True
 
     common_crop_box_filter:
       parameters:

autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml

@@ -11,6 +11,7 @@
     use_parking_after_stopped: false
     use_pull_over: false
     use_comfortable_stop: true
+    is_mrm_recoverable: true
 
     # setting whether to turn hazard lamp on for each situation
     turning_hazard_on:

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -12,6 +12,8 @@
   <arg name="use_detection_by_tracker" default="true" description="launch detection_by_tracker function"/>
   <arg name="use_radar_tracking_fusion" default="true" description="if true, radar objects are merged in tracking module. Otherwise, radar objects are merged in detection module."/>
   <arg name="use_object_filter" default="true" description="launch object filter to filter-out detected object"/>
+  <arg name="use_obstacle_segmentation_single_frame_filter" default="false" description="use single frame filter at the ground segmentation"/>
+  <arg name="use_obstacle_segmentation_time_series_filter" default="true" description="use time series filter at the ground segmentation"/>
 
   <arg name="occupancy_grid_map_method" default="pointcloud_based" description="options: pointcloud_based, laserscan_based, multi_lidar_pointcloud_based"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
@@ -74,6 +76,9 @@
     <arg name="use_object_filter" value="$(var use_object_filter)"/>
     <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
+    <arg name="use_obstacle_segmentation_single_frame_filter" value="$(var use_obstacle_segmentation_single_frame_filter)"/>
+    <arg name="use_obstacle_segmentation_time_series_filter" value="$(var use_obstacle_segmentation_time_series_filter)"/>
+
     <arg name="data_path" value="$(var data_path)"/>
     <arg name="input/pointcloud" value="/sensing/lidar/concatenated/pointcloud"/>
     <arg name="pointpainting_model_path" value="/opt/autoware/mlmodels/pointpainting"/>

autoware_launch/launch/components/tier4_system_component.launch.xml

@@ -31,6 +31,8 @@
     <arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
     <arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
     <arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>
+
+    <arg name="launch_system_recover_operator" value="false"/>
   </include>
 
   <!-- For logging of diagnostics_graph error -->