feat: add road marker mode parameter

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>

Author: Motsu-san

localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/config/lidar_marker_localizer.param.yaml

@@ -8,6 +8,7 @@
     marker_name: "reflector"
 
     # for marker detection algorithm
+    road_surface_mode: false
     resolution: 0.05
     # A sequence of high/low intensity to perform pattern matching.
     # 1: high intensity (positive match), 0: not consider, -1: low intensity (negative match)

localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp

@@ -54,6 +54,7 @@ LidarMarkerLocalizer::LidarMarkerLocalizer(const rclcpp::NodeOptions & node_opti
     this->declare_parameter<int64_t>("queue_size_for_output_pose");
 
   param_.marker_name = this->declare_parameter<std::string>("marker_name");
+  param_.road_surface_mode = this->declare_parameter<bool>("road_surface_mode");
   param_.resolution = this->declare_parameter<double>("resolution");
   param_.intensity_pattern = this->declare_parameter<std::vector<int64_t>>("intensity_pattern");
   param_.match_intensity_difference_threshold =

localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.hpp

@@ -68,6 +68,7 @@ class LidarMarkerLocalizer : public rclcpp::Node
 
     std::string marker_name;
 
+    bool road_surface_mode;
     double resolution;
     std::vector<int64_t> intensity_pattern;
     int64_t match_intensity_difference_threshold;