From 221ce4ba4dfb22c97ffbcd05fcbb6ad6fd9c904d Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 12 Jun 2024 19:19:48 +0900
Subject: [PATCH] chore(tier4_perception_launch): perception launcher
 refactoring (#7194)

* fix: reorder object merger launchers

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: separate detection by tracker launch

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: refactor tracking launch

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: input pointcloud topic names, mot input channels

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: separate filters

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: object validator to modular

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: implement filters on mergers

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix lidar only mode

chore: simplify mode check
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: fix a bug when use_radar_tracking_fusion is fault

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: rename radar detector to filter

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../detection/detection.launch.xml            |  42 ++++-
 .../detector/camera_lidar_detector.launch.xml |  10 +-
 .../detector/lidar_rule_detector.launch.xml   |  10 +-
 .../tracker_based_detector.launch.xml         |  10 ++
 .../detection/filter/object_filter.launch.xml |  25 +++
 .../filter/object_validator.launch.xml        |  26 +++
 .../pointcloud_map_filter.launch.py           |   0
 .../radar_filter.launch.xml}                  |   9 +-
 .../merger/camera_lidar_merger.launch.xml     | 123 +++++++-------
 .../camera_lidar_radar_merger.launch.xml      | 155 ++++++++++--------
 .../detection/merger/lidar_merger.launch.xml  | 113 ++++++-------
 .../tracking/tracking.launch.xml              |  63 ++++---
 .../launch/perception.launch.xml              |   5 +-
 13 files changed, 348 insertions(+), 243 deletions(-)
 create mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
 create mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
 create mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
 rename launch/tier4_perception_launch/launch/object_recognition/detection/{ => filter}/pointcloud_map_filter.launch.py (100%)
 rename launch/tier4_perception_launch/launch/object_recognition/detection/{detector/radar_detector.launch.xml => filter/radar_filter.launch.xml} (96%)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 7e389f5790051..754d07c6d99bf 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -2,6 +2,7 @@
 <launch>
   <!-- Interface parameters -->
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="use_detection_by_tracker"/>
 
   <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
@@ -65,10 +66,10 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
-    <!-- Radar detector-->
+    <!-- Radar detector/filter-->
     <group>
       <push-ros-namespace namespace="radar"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
         <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
@@ -78,6 +79,12 @@
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
       </include>
     </group>
+    <!-- DetectionByTracker -->
+    <group if="$(var use_detection_by_tracker)">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      </include>
+    </group>
     <!-- Object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
       <arg name="image_raw0" value="$(var image_raw0)"/>
@@ -98,6 +105,8 @@
       <arg name="camera_info7" value="$(var camera_info7)"/>
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
+      <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
@@ -138,6 +147,12 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
+    <!-- DetectionByTracker -->
+    <group if="$(var use_detection_by_tracker)">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      </include>
+    </group>
     <!-- Object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
       <arg name="image_raw0" value="$(var image_raw0)"/>
@@ -159,16 +174,17 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
 
   <!-- Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
-    <!-- Radar detector-->
+    <!-- Radar detector/filter-->
     <group>
       <push-ros-namespace namespace="radar"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
         <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
@@ -189,10 +205,17 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
+    <!-- DetectionByTracker -->
+    <group if="$(var use_detection_by_tracker)">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      </include>
+    </group>
     <!-- Lidar object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
       <arg name="output/objects" value="lidar/objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
     </include>
@@ -217,9 +240,16 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
+    <!-- DetectionByTracker -->
+    <group if="$(var use_detection_by_tracker)">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      </include>
+    </group>
     <!-- Lidar object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
     </include>
@@ -227,8 +257,8 @@
 
   <!-- Radar based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
-    <!-- Radar detector-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+    <!-- Radar detector/filter-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
       <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 6294df64279a5..fe0ba0e614e60 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -94,7 +94,7 @@
 
   <!-- Pointcloud filter -->
   <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
@@ -234,12 +234,4 @@
       </group>
     </group>
   </group>
-
-  <!-- DetectionByTracker -->
-  <group if="$(var use_detection_by_tracker)">
-    <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
-      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-    </include>
-  </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
index 0fabd5e98e45f..e78823429195f 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -6,7 +6,7 @@
 
   <!-- Pointcloud filter -->
   <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
@@ -45,12 +45,4 @@
       </include>
     </group>
   </group>
-
-  <!-- DetectionByTracker -->
-  <group if="$(var use_detection_by_tracker)">
-    <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
-      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-    </include>
-  </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
new file mode 100644
index 0000000000000..0efe7444fcba5
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- DetectionByTracker -->
+  <group>
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+    </include>
+  </group>
+</launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
new file mode 100644
index 0000000000000..7047aec77c660
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Pipeline junctions -->
+  <arg name="objects_filter_method" default="lanelet_filter" description="lanelet_filter or position_filter"/>
+
+  <!-- external interfaces -->
+  <arg name="input/objects" default="clustering/camera_lidar_fusion/objects"/>
+  <arg name="output/objects" default="clustering/camera_lidar_fusion/filtered/objects"/>
+
+  <!-- Filter -->
+  <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
+      <arg name="input/object" value="$(var input/objects)"/>
+      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
+    </include>
+  </group>
+  <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml">
+      <arg name="input/object" value="$(var input/objects)"/>
+      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
+    </include>
+  </group>
+</launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
new file mode 100644
index 0000000000000..b3704f130232a
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Pipeline junctions -->
+  <arg name="objects_validation_method" default="obstacle_pointcloud" description="obstacle_pointcloud or occupancy_grid"/>
+
+  <!-- external interfaces -->
+  <arg name="input/obstacle_pointcloud" default="pointcloud_map_filtered/pointcloud" description="Only required when 'obstacle_pointcloud'"/>
+  <arg name="input/objects" default="centerpoint/objects"/>
+  <arg name="output/objects" default="centerpoint/validation/objects"/>
+
+  <!-- Validator -->
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml">
+      <arg name="input/detected_objects" value="$(var input/objects)"/>
+      <arg name="input/obstacle_pointcloud" value="$(var input/obstacle_pointcloud)"/>
+      <arg name="output/objects" value="$(var output/objects)"/>
+      <arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
+    </include>
+  </group>
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml">
+      <arg name="input/detected_objects" value="$(var input/objects)"/>
+      <arg name="output/objects" value="$(var output/objects)"/>
+    </include>
+  </group>
+</launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py
similarity index 100%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
rename to launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
similarity index 96%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
rename to launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
index b09684281d33a..d837505649cf1 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
@@ -1,14 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <arg name="output/objects" default="far_objects"/>
+  <!-- Parameters -->
   <arg name="radar_crossing_objects_noise_filter_param_path"/>
   <arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
   <arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
   <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
 
-  <!-- Detection for far dynamic objects -->
+  <!-- External interfaces -->
+  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
+  <arg name="output/objects" default="far_objects"/>
+
+  <!-- Radar filter pipeline -->
   <include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
     <arg name="input/objects" value="$(var input/radar)"/>
     <arg name="output/noise_objects" value="noise_objects"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
index 2f62e83ae0ef5..5bcfe49643dce 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -1,23 +1,55 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Merger parameters -->
-  <arg name="output/objects" default="objects"/>
-
-  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
-  <arg name="objects_filter_method" default="lanelet_filter"/>
+  <!-- Parameters -->
   <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
 
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-
-  <!-- Lidar parameters -->
+  <!-- Pipeline junctions -->
   <arg name="lidar_detection_model"/>
+  <arg name="use_detection_by_tracker"/>
+
+  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="use_pointcloud_map"/>
+  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+
+  <arg name="objects_filter_method" default="lanelet_filter"/>
+  <arg name="use_object_filter" default="true" description="use object filter"/>
+  <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
+
+  <!-- external interfaces -->
+  <arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
+  <arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
+  <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
+  <arg name="output/objects" default="objects"/>
+
+  <!-- internal interfaces -->
+  <let name="camera_roi_fusion/input/objects" value="$(var input/lidar_ml/objects)"/>
+  <let name="camera_roi_fusion/output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+
+  <let name="validator/input/objects" value="$(var camera_roi_fusion/output/objects)"/>
+  <let name="validator/input/obstacle_pointcloud" value="$(var input/pointcloud_map/pointcloud)" if="$(var use_pointcloud_map)"/>
+  <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
+  <let name="validator/output/objects" value="$(var lidar_detection_model)/validation/objects"/>
+
+  <let name="merger1/input/objects0" value="$(var validator/output/objects)" if="$(var use_validator)"/>
+  <let name="merger1/input/objects0" value="$(var input/lidar_ml/objects)" unless="$(var use_validator)"/>
+  <let name="merger1/input/objects1" value="$(var input/lidar_rule/objects)"/>
+  <let name="merger1/output/objects" value="$(var output/objects)" if="$(var without_dbt_and_filter)"/>
+  <let name="merger1/output/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var without_dbt_and_filter)"/>
 
-  <!-- Camera late fusion -->
+  <let name="merger2/input/objects0" value="$(var merger1/output/objects)"/>
+  <let name="merger2/input/objects1" value="$(var input/detection_by_tracker/objects)"/>
+  <let name="merger2/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
+  <let name="merger2/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
+
+  <let name="filter/input/objects" value="$(var merger2/output/objects)" if="$(var use_detection_by_tracker)"/>
+  <let name="filter/input/objects" value="$(var merger1/output/objects)" unless="$(var use_detection_by_tracker)"/>
+  <let name="filter/output/objects" value="$(var output/objects)"/>
+
+  <!-- Camera ROI fusion -->
   <group>
-    <let name="target_objects" value="$(var lidar_detection_model)/objects"/>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
       <arg name="input/camera_info0" value="$(var camera_info0)"/>
       <arg name="input/rois0" value="$(var detection_rois0)"/>
@@ -44,81 +76,52 @@
       <arg name="input/image5" value="$(var image_raw5)"/>
       <arg name="input/image6" value="$(var image_raw6)"/>
       <arg name="input/image7" value="$(var image_raw7)"/>
-      <arg name="input/objects" value="$(var target_objects)"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+      <arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
+      <arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
       <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
   </group>
 
   <!-- Validator -->
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
-    <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
-      <arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
+      <arg name="input/objects" value="$(var validator/input/objects)"/>
+      <arg name="output/objects" value="$(var validator/output/objects)"/>
+      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
     </include>
   </group>
 
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
-    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
-    </include>
-  </group>
-
-  <!-- Merger -->
+  <!-- 1st merger: camera_lidar_fusion + lidar cluster-->
   <group>
-    <!-- 1st merger to merge camera_lidar_fusion + ML lidar detection-->
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
-    <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
-    <let name="merger/output/objects" value="$(var output/objects)" if="$(var without_dbt_and_filter)"/>
-    <let name="merger/output/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var without_dbt_and_filter)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var merger/input/objects)"/>
-      <arg name="input/object1" value="clustering/camera_lidar_fusion/objects"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
+      <arg name="input/object0" value="$(var merger1/input/objects0)"/>
+      <arg name="input/object1" value="$(var merger1/input/objects1)"/>
+      <arg name="output/object" value="$(var merger1/output/objects)"/>
       <arg name="priority_mode" value="0"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
       <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
     </include>
   </group>
 
+  <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
-    <!-- 2nd merger to merge detection_by_tracker -->
-    <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
-    <let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
-      <arg name="input/object1" value="detection_by_tracker/objects"/>
+      <arg name="input/object0" value="$(var merger2/input/objects0)"/>
+      <arg name="input/object1" value="$(var merger2/input/objects1)"/>
+      <arg name="output/object" value="$(var merger2/output/objects)"/>
       <arg name="priority_mode" value="0"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
       <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
     </include>
   </group>
 
   <!-- Filter -->
-  <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
-    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
-    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="$(var filter/input/objects)"/>
-      <arg name="output/object" value="$(var output/objects)"/>
-      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
-    </include>
-  </group>
-
-  <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
-    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
-    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="$(var filter/input/objects)"/>
-      <arg name="output/object" value="$(var output/objects)"/>
-      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_filter.launch.xml" if="$(var use_object_filter)">
+      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
+      <arg name="input/objects" value="$(var filter/input/objects)"/>
+      <arg name="output/objects" value="$(var filter/output/objects)"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
index b4d19c9052a63..07ab78cd37f72 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -1,39 +1,78 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Merger parameters -->
-  <arg name="output/objects" default="objects"/>
-
-  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
-  <arg name="objects_filter_method" default="lanelet_filter"/>
+  <!-- Parameters -->
   <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
-
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="use_near_radar_fusion" default="false"/>
   <arg name="far_object_merger_sync_queue_size" default="20"/>
 
-  <!-- Filter output name. Switch output topic name by 'use_radar_tracking_fusion' parameter defined in perception.launch -->
-  <let name="output_of_filtered_objects" value="$(var output/objects)" if="$(var use_radar_tracking_fusion)"/>
-  <let name="output_of_filtered_objects" value="near_objects" unless="$(var use_radar_tracking_fusion)"/>
-
-  <!-- Lidar parameters -->
+  <!-- Pipeline junctions -->
   <arg name="lidar_detection_model"/>
+  <arg name="use_radar_tracking_fusion"/>
+  <arg name="use_detection_by_tracker"/>
+  <arg name="use_near_radar_fusion" default="false"/>
+
+  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="use_pointcloud_map"/>
+  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+
+  <arg name="objects_filter_method" default="lanelet_filter"/>
+  <arg name="use_object_filter" default="true" description="use object filter"/>
+  <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
+
+  <!-- external interfaces -->
+  <arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
+  <arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
+  <arg name="input/radar_near/objects" default="radar/noise_filtered_objects"/>
+  <arg name="input/radar_far/objects" default="radar/noise_filtered_objects"/>
+  <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
+  <arg name="output/objects" default="objects"/>
+
+  <!-- internal interfaces -->
+  <let name="radar_objects_fusion/input/objects" value="$(var input/lidar_ml/objects)"/>
+  <let name="radar_objects_fusion/input/radars" value="$(var input/radar_near/objects)"/>
+  <let name="radar_objects_fusion/output/objects" value="radar_fusion/objects"/>
+
+  <let name="camera_roi_fusion/input/objects" value="$(var radar_objects_fusion/output/objects)" if="$(var use_near_radar_fusion)"/>
+  <let name="camera_roi_fusion/input/objects" value="$(var input/lidar_ml/objects)" unless="$(var use_near_radar_fusion)"/>
+  <let name="camera_roi_fusion/output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+
+  <let name="validator/input/objects" value="$(var camera_roi_fusion/output/objects)"/>
+  <let name="validator/input/obstacle_pointcloud" value="$(var input/pointcloud_map/pointcloud)" if="$(var use_pointcloud_map)"/>
+  <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
+  <let name="validator/output/objects" value="$(var lidar_detection_model)/validation/objects"/>
+
+  <let name="merger1/input/objects0" value="$(var validator/output/objects)" if="$(var use_validator)"/>
+  <let name="merger1/input/objects0" value="$(var input/lidar_ml/objects)" unless="$(var use_validator)"/>
+  <let name="merger1/input/objects1" value="$(var input/lidar_rule/objects)"/>
+  <let name="merger1/output/objects" value="$(var output/objects)" if="$(var without_dbt_and_filter)"/>
+  <let name="merger1/output/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var without_dbt_and_filter)"/>
+
+  <let name="merger2/input/objects0" value="$(var merger1/output/objects)"/>
+  <let name="merger2/input/objects1" value="$(var input/detection_by_tracker/objects)"/>
+  <let name="merger2/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
+  <let name="merger2/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
+
+  <let name="filter/input/objects" value="$(var merger2/output/objects)" if="$(var use_detection_by_tracker)"/>
+  <let name="filter/input/objects" value="$(var merger1/output/objects)" unless="$(var use_detection_by_tracker)"/>
+  <let name="filter/output/objects" value="$(var output/objects)"/>
+
+  <let name="merger3/input/objects0" value="near_objects"/>
+  <let name="merger3/input/objects1" value="$(var input/radar_far/objects)"/>
+  <let name="merger3/output/objects" value="$(var output/objects)"/>
 
   <!-- Radar fusion -->
   <group>
     <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml" if="$(var use_near_radar_fusion)">
-      <arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
-      <arg name="input/radars" value="radar/noise_filtered_objects"/>
-      <arg name="output/objects" value="radar_fusion/objects"/>
+      <arg name="input/objects" value="$(var radar_objects_fusion/input/objects)"/>
+      <arg name="input/radars" value="$(var radar_objects_fusion/input/radars)"/>
+      <arg name="output/objects" value="$(var radar_objects_fusion/output/objects)"/>
     </include>
   </group>
 
-  <!-- Camera late fusion -->
+  <!-- Camera ROI fusion -->
   <group>
-    <let name="target_objects" value="radar_fusion/objects" if="$(var use_near_radar_fusion)"/>
-    <let name="target_objects" value="$(var lidar_detection_model)/objects" unless="$(var use_near_radar_fusion)"/>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
       <arg name="input/camera_info0" value="$(var camera_info0)"/>
       <arg name="input/rois0" value="$(var detection_rois0)"/>
@@ -60,91 +99,63 @@
       <arg name="input/image5" value="$(var image_raw5)"/>
       <arg name="input/image6" value="$(var image_raw6)"/>
       <arg name="input/image7" value="$(var image_raw7)"/>
-      <arg name="input/objects" value="$(var target_objects)"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+      <arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
+      <arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
       <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
   </group>
 
   <!-- Validator -->
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
-    <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
-      <arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
-    </include>
-  </group>
-
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
-    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
+      <arg name="input/objects" value="$(var validator/input/objects)"/>
+      <arg name="output/objects" value="$(var validator/output/objects)"/>
+      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
     </include>
   </group>
 
-  <!-- Merger -->
+  <!-- 1st merger -->
   <group>
-    <!-- 1st merger to merge camera_lidar_fusion + ML lidar detection-->
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
-    <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
-    <let name="merger/output/objects" value="near_objects" if="$(var without_dbt_and_filter)"/>
-    <let name="merger/output/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var without_dbt_and_filter)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var merger/input/objects)"/>
-      <arg name="input/object1" value="clustering/camera_lidar_fusion/objects"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
+      <arg name="input/object0" value="$(var merger1/input/objects0)"/>
+      <arg name="input/object1" value="$(var merger1/input/objects1)"/>
+      <arg name="output/object" value="$(var merger1/output/objects)"/>
       <arg name="priority_mode" value="0"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
       <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
     </include>
   </group>
 
+  <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
-    <!-- 2nd merger to merge detection_by_tracker -->
-    <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
-    <let name="merger/output/objects" value="near_objects" unless="$(var use_object_filter)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
-      <arg name="input/object1" value="detection_by_tracker/objects"/>
+      <arg name="input/object0" value="$(var merger2/input/objects0)"/>
+      <arg name="input/object1" value="$(var merger2/input/objects1)"/>
+      <arg name="output/object" value="$(var merger2/output/objects)"/>
       <arg name="priority_mode" value="0"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
       <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
     </include>
   </group>
 
   <!-- Filter -->
-  <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
-    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
-    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="$(var filter/input/objects)"/>
-      <arg name="output/object" value="$(var output_of_filtered_objects)"/>
-      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
-    </include>
-  </group>
-
-  <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
-    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
-    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="$(var filter/input/objects)"/>
-      <arg name="output/object" value="$(var output_of_filtered_objects)"/>
-      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_filter.launch.xml" if="$(var use_object_filter)">
+      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
+      <arg name="input/objects" value="$(var filter/input/objects)"/>
+      <arg name="output/objects" value="$(var filter/output/objects)"/>
     </include>
   </group>
 
+  <!-- 3rd merger: + radar -->
   <!-- Merge far_objects and near_objects in detection stage.
       Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
   <group unless="$(var use_radar_tracking_fusion)">
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="near_objects"/>
-      <arg name="input/object1" value="radar/far_objects"/>
-      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="input/object0" value="$(var merger3/input/objects0)"/>
+      <arg name="input/object1" value="$(var merger3/input/objects1)"/>
+      <arg name="output/object" value="$(var merger3/output/objects)"/>
       <arg name="priority_mode" value="0"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
       <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
index 0ecc89c8743e8..f0ce19db6c342 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
@@ -1,89 +1,90 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Merger parameters -->
-  <arg name="output/objects" default="objects"/>
-
-  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
-  <arg name="objects_filter_method" default="lanelet_filter"/>
+  <!-- Parameters -->
   <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
 
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-
-  <!-- Lidar parameters -->
+  <!-- Pipeline junctions -->
   <arg name="lidar_detection_model"/>
+  <arg name="use_detection_by_tracker"/>
+
+  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="use_pointcloud_map"/>
+  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+
+  <arg name="objects_filter_method" default="lanelet_filter"/>
+  <arg name="use_object_filter" default="true" description="use object filter"/>
+  <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
+
+  <!-- external interfaces -->
+  <arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
+  <arg name="input/lidar_rule/objects" default="clustering/objects"/>
+  <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
+  <arg name="output/objects" default="objects"/>
+
+  <!-- internal interfaces -->
+  <let name="validator/input/objects" value="$(var input/lidar_ml/objects)"/>
+  <let name="validator/input/obstacle_pointcloud" value="$(var input/pointcloud_map/pointcloud)" if="$(var use_pointcloud_map)"/>
+  <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
+  <let name="validator/output/objects" value="$(var lidar_detection_model)/validation/objects"/>
+
+  <let name="merger1/input/objects0" value="$(var validator/output/objects)" if="$(var use_validator)"/>
+  <let name="merger1/input/objects0" value="$(var input/lidar_ml/objects)" unless="$(var use_validator)"/>
+  <let name="merger1/input/objects1" value="$(var input/lidar_rule/objects)"/>
+  <let name="merger1/output/objects" value="$(var output/objects)" if="$(var without_dbt_and_filter)"/>
+  <let name="merger1/output/objects" value="temporary_merged_objects" unless="$(var without_dbt_and_filter)"/>
+
+  <let name="merger2/input/objects0" value="$(var merger1/output/objects)"/>
+  <let name="merger2/input/objects1" value="$(var input/detection_by_tracker/objects)"/>
+  <let name="merger2/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
+  <let name="merger2/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
+
+  <let name="filter/input/objects" value="$(var merger2/output/objects)" if="$(var use_detection_by_tracker)"/>
+  <let name="filter/input/objects" value="$(var merger1/output/objects)" unless="$(var use_detection_by_tracker)"/>
+  <let name="filter/output/objects" value="$(var output/objects)"/>
 
   <!-- Validator -->
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
-    <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
-      <arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
+      <arg name="input/objects" value="$(var validator/input/objects)"/>
+      <arg name="output/objects" value="$(var validator/output/objects)"/>
+      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
     </include>
   </group>
 
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
-    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
-    </include>
-  </group>
-
-  <!-- Merger -->
+  <!-- 1st merger: ML detection + pointcloud cluster -->
   <group>
-    <!-- 1st merger to merge clustering + ML lidar detection-->
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
-    <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
-    <let name="merger/output/objects" value="temporary_merged_objects" unless="$(var without_dbt_and_filter)"/>
-    <let name="merger/output/objects" value="$(var output/objects)" if="$(var without_dbt_and_filter)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var merger/input/objects)"/>
-      <arg name="input/object1" value="clustering/objects"/>
+      <arg name="input/object0" value="$(var merger1/input/objects0)"/>
+      <arg name="input/object1" value="$(var merger1/input/objects1)"/>
+      <arg name="output/object" value="$(var merger1/output/objects)"/>
       <arg name="priority_mode" value="2"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
       <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
     </include>
   </group>
 
+  <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
-    <!-- 2nd merger to merge detection_by_tracker -->
-    <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
-    <let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="temporary_merged_objects"/>
-      <arg name="input/object1" value="detection_by_tracker/objects"/>
+      <arg name="input/object0" value="$(var merger2/input/objects0)"/>
+      <arg name="input/object1" value="$(var merger2/input/objects1)"/>
+      <arg name="output/object" value="$(var merger2/output/objects)"/>
       <arg name="priority_mode" value="0"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
       <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
     </include>
   </group>
 
   <!-- Filter -->
-  <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
-    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
-    <let name="filter/input/objects" value="temporary_merged_objects" unless="$(var use_detection_by_tracker)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="$(var filter/input/objects)"/>
-      <arg name="output/object" value="$(var output/objects)"/>
-      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
-    </include>
-  </group>
-
-  <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
-    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
-    <let name="filter/input/objects" value="temporary_merged_objects" unless="$(var use_detection_by_tracker)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="$(var filter/input/objects)"/>
-      <arg name="output/object" value="$(var output/objects)"/>
-      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_filter.launch.xml" if="$(var use_object_filter)">
+      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
+      <arg name="input/objects" value="$(var filter/input/objects)"/>
+      <arg name="output/objects" value="$(var filter/output/objects)"/>
     </include>
   </group>
 </launch>
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
index cf11c65ac805c..b8172daa616fa 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -1,41 +1,50 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
-
   <!-- Radar Tracking and Merger parameters -->
-  <arg name="use_radar_tracking_fusion" default="false" description="use radar tracking fusion"/>
-  <arg name="radar_tracker_input" default="/perception/object_recognition/detection/radar/far_objects"/>
-  <arg name="radar_tracker_output" default="/perception/object_recognition/tracking/radar/far_objects"/>
   <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path" description="association param file for radar far object tracking"/>
   <arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" description="tracking setting param file for radar far object tracking"/>
   <arg name="object_recognition_tracking_radar_object_tracker_node_param_path" description="node param file for radar far object tracking"/>
   <arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" description="association param file for radar and lidar object merger"/>
   <arg name="object_recognition_tracking_object_merger_node_param_path" description="node param file for radar and lidar object merger"/>
 
-  <!-- Run without tracking merger-->
-  <group unless="$(var use_radar_tracking_fusion)">
-    <!--multi object tracking-->
-    <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
-      <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
-      <arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
-      <arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
-    </include>
-  </group>
+  <!-- Pipeline junctions -->
+  <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="use_radar_tracking_fusion" default="false" description="use radar tracking fusion"/>
+  <let name="use_radar_tracking_fusion" value="false" if="$(eval '&quot;$(var mode)&quot;!=&quot;camera_lidar_radar_fusion&quot;')"/>
+
+  <!-- External interface -->
+  <arg name="input/detection_input_channels" default="['detected_objects']"/>
+  <!-- detection_input_channels: Input channels for multi object tracker, reference: multi_object_tracker/config/input_channels.param.yaml -->
+  <arg name="input/radar/objects" default="/perception/object_recognition/detection/radar/far_objects"/>
+  <arg name="output/objects" default="/perception/object_recognition/tracking/objects"/>
+
+  <!-- Internal interface -->
+  <let name="radar_tracker/input/objects" value="$(var input/radar/objects)"/>
+  <let name="radar_tracker/output/objects" value="/perception/object_recognition/tracking/radar/far_objects"/>
+
+  <let name="multi_object_tracker/input/selected_input_channels" value="$(var input/detection_input_channels)"/>
+  <let name="multi_object_tracker/output/objects" value="$(var output/objects)" unless="$(var use_radar_tracking_fusion)"/>
+  <let name="multi_object_tracker/output/objects" value="/perception/object_recognition/tracking/near_objects" if="$(var use_radar_tracking_fusion)"/>
+
+  <let name="tracker_merger/input/main_objects" value="$(var multi_object_tracker/output/objects)"/>
+  <let name="tracker_merger/input/sub_objects" value="$(var radar_tracker/output/objects)"/>
+  <let name="tracker_merger/output/objects" value="$(var output/objects)"/>
+
+  <!--Multi object tracking-->
+  <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
+    <arg name="selected_input_channels" value="$(var multi_object_tracker/input/selected_input_channels)"/>
+    <arg name="output" value="$(var multi_object_tracker/output/objects)"/>
+    <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
+    <arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
+    <arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
+  </include>
 
   <!-- Run with tracking merger to add far radar information -->
   <group if="$(var use_radar_tracking_fusion)">
-    <!--multi object tracking for near objects-->
-    <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
-      <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
-      <arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
-      <arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
-      <arg name="output" value="/perception/object_recognition/tracking/near_objects"/>
-    </include>
-
     <!--radar long range dynamic object tracking-->
     <include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
-      <arg name="input" value="$(var radar_tracker_input)"/>
-      <arg name="output" value="$(var radar_tracker_output)"/>
+      <arg name="input" value="$(var radar_tracker/input/objects)"/>
+      <arg name="output" value="$(var radar_tracker/output/objects)"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"/>
       <arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
       <arg name="radar_object_tracker_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
@@ -43,9 +52,9 @@
 
     <!--tracking object merger to merge near objects and far objects -->
     <include file="$(find-pkg-share tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
-      <arg name="input/main_object" value="/perception/object_recognition/tracking/near_objects"/>
-      <arg name="input/sub_object" value="$(var radar_tracker_output)"/>
-      <arg name="output" value="/perception/object_recognition/tracking/objects"/>
+      <arg name="input/main_object" value="$(var tracker_merger/input/main_objects)"/>
+      <arg name="input/sub_object" value="$(var tracker_merger/input/sub_objects)"/>
+      <arg name="output" value="$(var tracker_merger/output/objects)"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
       <arg name="node_param_file_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 62404a7deb43a..dd80ab5b2cde7 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -90,7 +90,7 @@
   <arg name="use_perception_online_evaluator" default="false" description="use perception online evaluator"/>
 
   <!-- Traffic light recognition parameters -->
-  <arg name="use_traffic_light_recognition" default="true"/>
+  <arg name="use_traffic_light_recognition" default="false"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true"/>
   <arg name="traffic_light_recognition/fusion_only" default="false"/>
   <arg name="traffic_light_image_number" default="1" description="choose traffic light image raw number(1-2)"/>
@@ -217,6 +217,8 @@
           <arg name="radar_object_clustering_param_path" value="$(var object_recognition_detection_radar_object_clustering_param_path)"/>
           <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
 
+          <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
+          <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
@@ -238,6 +240,7 @@
           <arg name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(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_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
         </include>
       </group>