From 892b422ccd69d1786fb086ccb6b3b6253d1dcb2f Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 2 Nov 2023 18:22:43 +0900
Subject: [PATCH] fix: launch

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../detection/camera_lidar_fusion_based_detection.launch.xml  | 1 +
 .../camera_lidar_radar_fusion_based_detection.launch.xml      | 1 +
 .../launch/object_recognition/detection/detection.launch.xml  | 3 +++
 .../detection/lidar_based_detection.launch.xml                | 1 +
 launch/tier4_perception_launch/launch/perception.launch.xml   | 2 ++
 .../launch/detection_by_tracker.launch.xml                    | 4 ++--
 6 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 59fe3f13f1231..b3e9e9148ee60 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -195,6 +195,7 @@
   <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" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
   </group>
 
   <!-- CenterPoint -->
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 11deaad5d06cc..20b1b5a4d0b27 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -220,6 +220,7 @@
   <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" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
   </group>
 
   <!-- CenterPoint -->
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 1fcf29606891b..33994934949ac 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
@@ -73,6 +73,7 @@
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+      <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
   </group>
 
@@ -104,6 +105,7 @@
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
+      <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
   </group>
 
@@ -133,6 +135,7 @@
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
   </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 822c251ddad33..ac521934265d7 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -61,6 +61,7 @@
   <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" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
   </group>
 
   <!-- CenterPoint -->
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 347606d91759f..8b241db9774b3 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -18,6 +18,7 @@
   <arg name="obstacle_segmentation_ground_segmentation_param_path"/>
   <arg name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"/>
   <arg name="object_recognition_detection_obstacle_pointcloud_based_validator_param_path"/>
+  <arg name="object_recognition_detection_detection_by_tracker_param"/>
   <arg name="occupancy_grid_map_method"/>
   <arg name="occupancy_grid_map_param_path"/>
   <arg name="occupancy_grid_map_updater"/>
@@ -174,6 +175,7 @@
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
           <arg name="radar_lanelet_filtering_range_param" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param)"/>
+          <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
           <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="$(var use_object_filter)"/>
diff --git a/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml b/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml
index fb702d098bac7..95e7cbf16b388 100644
--- a/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml
+++ b/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml
@@ -3,11 +3,11 @@
   <arg name="input/tracked_objects" default="/perception/object_recognition/tracking/objects"/>
   <arg name="input/initial_objects" default="/perception/object_recognition/detection/clustering/objects_with_feature"/>
   <arg name="output" default="objects"/>
-  <arg name="param_path" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
+  <arg name="detection_by_tracker_param_path" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
   <node pkg="detection_by_tracker" exec="detection_by_tracker" name="detection_by_tracker_node" output="screen">
     <remap from="~/input/tracked_objects" to="$(var input/tracked_objects)"/>
     <remap from="~/input/initial_objects" to="$(var input/initial_objects)"/>
     <remap from="~/output" to="$(var output)"/>
-    <param from="$(var param_path)"/>
+    <param from="$(var detection_by_tracker_param_path)"/>
   </node>
 </launch>