`radar_object_tracker` launches even if no radar has been launched

[mhmdrz-mirdamadi]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

When launching the perception, this line makes the radar object tracker to be launched always even if there is no radar to get the output from it.

Expected behavior

use_radar_tracking_fusion should be true if and only if the radar has a role in fusion. To be more precise, the perception mode should be camera_lidar_radar_fusion, lidar_radar_fusion or radar.

Actual behavior

use_radar_tracking_fusion will always be true even if no radar has a role in fusion.

Steps to reproduce

1. Set the perception mode to one of the lidar or camera_lidar_fusion.
2. Launch the perception.
3. List the topics with ros2 topic list and you see /perception/object_recognition/tracking/radar/far_objects and /perception/object_recognition/detection/radar/far_objects which are empty as there is no publisher for the latter.

Versions

No response

Possible causes

Decide to set the use_radar_tracking_fusion based on the perception mode value.

Additional context

No response

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.