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yn-mrse
Description
Since fitness score is a parameter that can vary depending on the map, change requests occur at different timings than software function updates. Therefore, it seems desirable to manage fitness scores separately from this repository.
In this PR, the default value of the fitness score parameter value has been deleted, and allow arguments to be specified when starting calibration.launch.
With this change, fitness_score_threshold must be specified as an additional option when starting a command in mode:=map_based.
The startup command is as follows.
ros2 launch extrinsic_calibration_manager calibration.launch.xml map_path:=/opt/autoware/maps/ pointcloud_map_file:=0.05_map0_converted_calib_removed_ground.pcd lanelet2_map_file:=lanelet2_map.osm map_calibration_area_file:=0.05_map0_cutout_calib_area_map.pcd mode:=mapbased sensor model:=aip_x1 vehicle_model:=ymc_golfcart_m0 fitness_score_threshold:=0.001
Note that when starting in a mode other than map_based, there is no need to use the fitness_score_threshold option. Therefore, in this case, it is necessary to specify a specification that will work without setting the fitness_score_threshold option.
Related links
TIER IV INTERNAL LINK, management ticket
Tests performed
When executing the launch command with mode:=map_based in calibration.launch
1. Preventing startup due to unintended parameter values
The command below intentionally does not specify the fitness_score_threshold option, but it has been confirmed that if this is executed, calibration_launch can be prevented from starting.
2. Successful startup/normal operation based on expected parameter values
The command below is a normal command with the fitness_score_threshold option specified, it was confirmed that when this was executed, calibration_launch could be started normally and calibration could be executed normally.
When executing the launch command in a mode other than mode:=map_based in calibration.launch
3. Prevention of inhibition of startup due to fitness score threshold value
Confirmed operation under the condition of mode:=ground_plane. We confirmed that launch was successful and continued operation without adding the fitness_score_threshold option.
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