From 4baa87be12e1d89191414ffae504f05f1652e757 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 19 Jun 2024 16:24:24 +0900
Subject: [PATCH] chore: update object detection input paths

---
 .../tracking/tracking.launch.xml              | 26 +++++++------------
 .../launch/perception.launch.xml              |  2 --
 2 files changed, 10 insertions(+), 18 deletions(-)

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 5db720ef26ea0..ec27eb50d88af 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
@@ -1,5 +1,8 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Current namespace -->
+  <let name="ns" value="/perception/object_recognition/tracking"/>
+
   <!-- Radar Tracking and Merger parameters -->
   <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"/>
@@ -13,18 +16,18 @@
   <let name="use_radar_tracking_fusion" value="false" if="$(eval '&quot;$(var mode)&quot;!=&quot;camera_lidar_radar_fusion&quot;')"/>
 
   <!-- External interface -->
-  <let name="input/detection_input_channels" value="$(var detection_enabled_channels)"/>
+  <let name="input/detection_input_channels" value="['detected_objects']"/>
   <arg name="input/radar/objects" default="/perception/object_recognition/detection/radar/far_objects"/>
-  <arg name="output/objects" default="/perception/object_recognition/tracking/objects"/>
+  <arg name="output/objects" default="$(var ns)/objects"/>
 
   <group unless="$(var use_multi_channel_tracker_merger)">
     <!-- Internal interface -->
     <let name="radar_tracker/input/objects" value="$(var input/radar/objects)"/>
-    <let name="radar_tracker/output/objects" value="/perception/object_recognition/tracking/radar/far_objects"/>
+    <let name="radar_tracker/output/objects" value="$(var ns)/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="multi_object_tracker/output/objects" value="$(var ns)/near_objects" if="$(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)"/>
@@ -63,9 +66,7 @@
 
   <!-- Object list for multi-channel tracker merger -->
   <group if="$(var use_multi_channel_tracker_merger)">
-    <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion_filtered','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
-    <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion_filtered']" unless="$(var use_detection_by_tracker)"/>
-
+    <let name="detection_enabled_channels" value="$(var input/detection_input_channels)"/>
     <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
       <let
         name="detection_enabled_channels"
@@ -90,17 +91,10 @@
       <let name="detection_enabled_channels" value="['radar_far']"/>
     </group>
 
-    <!-- External interface -->
-    <arg name="output/objects" default="/perception/object_recognition/tracking/objects"/>
-
-    <!-- Internal interface -->
-    <let name="multi_object_tracker/input/selected_input_channels" value="$(var detection_enabled_channels)"/>
-    <let name="multi_object_tracker/output/objects" value="$(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="$(var multi_object_tracker/output/objects)"/>
+      <arg name="selected_input_channels" value="$(var detection_enabled_channels)"/>
+      <arg name="output" value="$(var output/objects)"/>
       <arg name="data_association_matrix_path" value="$(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)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 9dc9d4e8e1ced..5d8d7563e7a7c 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -125,7 +125,6 @@
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
 
   <!-- Object merger method: whether to enable multi-channel tracker merger -->
-  <arg name="detection_enabled_channels" default="['detected_objects']" description="list of detection input channel"/>
   <arg name="use_multi_channel_tracker_merger" default="false" description="if it is true, replace the multi step merger to multi-channel tracker merger."/>
 
   <!-- Downsample pointcloud for perception usage -->
@@ -260,7 +259,6 @@
           <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="$(var object_recognition_tracking_object_merger_node_param_path)"/>
-          <arg name="detection_enabled_channels" value="$(var detection_enabled_channels)"/>
           <arg name="use_multi_channel_tracker_merger" value="$(var use_multi_channel_tracker_merger)"/>
           <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
           <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>