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perception/autoware_ground_filter/src/ground_filter_node.cpp

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -348,14 +348,14 @@ rcl_interfaces::msg::SetParametersResult GroundFilterComponent::onParameter(
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new_param.split_points_distance_tolerance = split_points_distance_tolerance_;
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new_param.split_height_distance = split_height_distance_;
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new_param.use_virtual_ground_point = use_virtual_ground_point_;
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new_param.wheel_base_m = static_cast<float>(vehicle_info_.wheel_base_m);
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new_param.vehicle_height_m = static_cast<float>(vehicle_info_.vehicle_height_m);
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new_param.center_pcl_shift = center_pcl_shift_;
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// Instantly swap out old brain for the new one
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ground_filter_ptr_ = std::make_unique<GroundFilter>(new_param);
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// Re-attach time keeper if it exists
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if (time_keeper_) {
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ground_filter_ptr_->setTimeKeeper(time_keeper_);

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