feat(tier4_perception_launch): add missing arg use_multi_channel_trac…

…ker_merger (#7705) * feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger Signed-off-by: Taekjin LEE <[email protected]> * feat: add use_multi_channel_tracker_merger argument to simulator launch This commit adds the `use_multi_channel_tracker_merger` argument to the simulator launch file. The argument is set to `false` by default. This change enables the use of the multi-channel tracker merger in the simulator. Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]>
autowarefoundation · Jul 22, 2024 · 203175a · 203175a
1 parent 789b181
commit 203175a
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diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -14,6 +14,7 @@
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="use_radar_tracking_fusion" default="false" description="use radar tracking fusion"/>
   <let name="use_radar_tracking_fusion" value="false" if="$(eval '&quot;$(var mode)&quot;!=&quot;camera_lidar_radar_fusion&quot;')"/>
+  <arg name="use_multi_channel_tracker_merger"/>
 
   <!-- External interface -->
   <let name="input/detection_input_channels" value="['detected_objects']"/>

diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -78,6 +78,7 @@
             <arg name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
             <arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
             <arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
+            <arg name="use_multi_channel_tracker_merger" value="false"/>
           </include>
         </group>
         <!-- prediction module -->