this shit ON FIRE

src/target_tracking/launch/target_tracking_launch.py

@@ -0,0 +1,69 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import math
+
+################### user configure parameters for ros2 start ###################
+# Topics/Frames
+frame_id        = 'velodyne'
+topic_preprocessing_in  = 'velodyne_points'
+topic_preprocessing_out = 'filtered_points'
+
+# Preprocessing
+x_min           = 0.0
+x_max           = 20.0
+z_min           = -0.5
+z_max           = 1.5
+tan_h_fov       = math.pi / 4 # ±45°
+tan_v_fov       = math.pi / 6 # ±30°
+
+# Clustering
+z_dim_scale     = 0.2
+cluster_tolerance   = 0.2
+min_cluster_size    = 10
+max_cluster_size    = 1000
+
+################### user configure parameters for ros2 end ##################### 
+
+cloud_preprocessing_params = [
+    {"topic_in": topic_preprocessing_in},
+    {"topic_out": topic_preprocessing_out},
+    {"x_min": x_min},
+    {"x_max": x_max},
+    {"z_min": z_min},
+    {"z_max": z_max},
+    {"tan_h_fov": tan_h_fov},
+    {"tan_v_fov": tan_v_fov}  
+]
+
+cloud_clustering_params = [
+    {"topic_in": topic_preprocessing_out},
+    {"frame_id": frame_id},
+    {"z_dim_scale": z_dim_scale},
+    {"cluster_tolerance": cluster_tolerance},
+    {"min_cluster_size": min_cluster_size},
+    {"max_cluster_size": max_cluster_size}
+]
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='target_tracking',
+            executable='cloud_preprocessing_node',
+            name='cloud_preprocessing',
+            parameters=cloud_preprocessing_params,
+            output={
+                'stdout': 'screen',
+                'stderr': 'screen',
+            }
+        ),
+         Node(
+            package='target_tracking',
+            executable='cloud_clustering_node',
+            name='cloud_clustering',
+            parameters=cloud_clustering_params,
+            output={
+                'stdout': 'screen',
+                'stderr': 'screen',
+            }
+        )
+    ])