chore(tier4_perception_launch): perception launcher refactoring secon…

…d round (#7440) * feat: separate filters Signed-off-by: Taekjin LEE <[email protected]> * fix: object validator to modular Signed-off-by: Taekjin LEE <[email protected]> * chore: remove default values from subsequent launch files Signed-off-by: Taekjin LEE <[email protected]> * chore: group interfaces and junctions Signed-off-by: Taekjin LEE <[email protected]> * Revert "chore: group interfaces and junctions" This reverts commit 9d723c3. Signed-off-by: Taekjin LEE <[email protected]> * chore: group interfaces and junctions Signed-off-by: Taekjin LEE <[email protected]> * fix: radar input Signed-off-by: Taekjin LEE <[email protected]> * fix: remove defaults from camera inputs Signed-off-by: Taekjin LEE <[email protected]> * chore: rename camera args Signed-off-by: Taekjin LEE <[email protected]> * chore: reorder Signed-off-by: Taekjin LEE <[email protected]> * fix: remove defaults from lidar interface Signed-off-by: Taekjin LEE <[email protected]> * Add use_pointcloud_map and use_validator arguments to detection.launch.xml Signed-off-by: Taekjin LEE <[email protected]> * fix: remove default from validators and filters Signed-off-by: Taekjin LEE <[email protected]> * fix: pointcloud container node name Signed-off-by: Taekjin LEE <[email protected]> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <[email protected]> * Add use_low_intensity_cluster_filter argument to launch files Signed-off-by: Taekjin LEE <[email protected]> * fix: on off detector and merger Signed-off-by: Taekjin LEE <[email protected]> * fix: radar_far/objects default Signed-off-by: Taekjin LEE <[email protected]> * fix: radar object filter parameter Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jul 22, 2024 · 97fb362 · 97fb362
1 parent 7eef300
commit 97fb362
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Showing 11 changed files with 540 additions and 440 deletions.
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
diff --git a/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
diff --git a/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -2,6 +2,7 @@
 <launch>
   <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
+  <arg name="node/pointcloud_container"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `clustering`"/>
 
   <!-- Lidar detector centerpoint parameters -->
@@ -27,7 +28,7 @@
         <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
 
         <arg name="use_pointcloud_container" value="true"/>
-        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       </include>
     </group>
   </group>
@@ -48,7 +49,7 @@
         <arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
 
         <arg name="use_pointcloud_container" value="true"/>
-        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       </include>
     </group>
   </group>

diff --git a/...eption_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/...eption_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -1,8 +1,10 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Lidar parameters -->
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
+  <arg name="node/pointcloud_container"/>
+  <arg name="use_pointcloud_map"/>
 
   <!-- Pointcloud filter -->
   <group>
@@ -11,7 +13,7 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
@@ -21,12 +23,12 @@
     <push-ros-namespace namespace="clustering"/>
     <group>
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+        <arg name="input_pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
 
         <arg name="use_pointcloud_container" value="true"/>
-        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       </include>
     </group>
 

diff --git a/...er4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml b/...er4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Pipeline junctions -->
-  <arg name="objects_filter_method" default="lanelet_filter" description="lanelet_filter or position_filter"/>
+  <arg name="objects_filter_method" default="lanelet_filter" description="options: `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"/>
+  <arg name="input/objects"/>
+  <arg name="output/objects"/>
 
   <!-- Filter -->
   <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">

diff --git a/..._perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml b/..._perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Pipeline junctions -->
-  <arg name="objects_validation_method" default="obstacle_pointcloud" description="obstacle_pointcloud or occupancy_grid"/>
+  <arg name="objects_validation_method" description="options: `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"/>
+  <arg name="input/obstacle_pointcloud" description="Only required when 'obstacle_pointcloud'"/>
+  <arg name="input/objects"/>
+  <arg name="output/objects"/>
 
   <!-- Validator -->
   <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">

diff --git a/...ier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml b/...ier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
@@ -4,12 +4,12 @@
   <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="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
+  <arg name="radar_lanelet_filtering_range_param_path" default="$(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"/>
 
   <!-- External interfaces -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <arg name="output/objects" default="far_objects"/>
+  <arg name="input/radar"/>
+  <arg name="output/objects"/>
 
   <!-- Radar filter pipeline -->
   <include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
@@ -36,7 +36,7 @@
   <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
     <arg name="input/object" value="far_high_speed_objects"/>
     <arg name="output/object" value="lanelet_filtered_objects"/>
-    <arg name="filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
+    <arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">

diff --git a/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -8,17 +8,42 @@
   <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_validator"/>
+  <arg name="objects_validation_method"/>
   <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"/>
+  <arg name="use_object_filter" description="use object filter"/>
+  <arg name="objects_filter_method"/>
   <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="number_of_cameras"/>
+  <arg name="input/camera0/image"/>
+  <arg name="input/camera0/info"/>
+  <arg name="input/camera0/rois"/>
+  <arg name="input/camera1/image"/>
+  <arg name="input/camera1/info"/>
+  <arg name="input/camera1/rois"/>
+  <arg name="input/camera2/image"/>
+  <arg name="input/camera2/info"/>
+  <arg name="input/camera2/rois"/>
+  <arg name="input/camera3/image"/>
+  <arg name="input/camera3/info"/>
+  <arg name="input/camera3/rois"/>
+  <arg name="input/camera4/image"/>
+  <arg name="input/camera4/info"/>
+  <arg name="input/camera4/rois"/>
+  <arg name="input/camera5/image"/>
+  <arg name="input/camera5/info"/>
+  <arg name="input/camera5/rois"/>
+  <arg name="input/camera6/image"/>
+  <arg name="input/camera6/info"/>
+  <arg name="input/camera6/rois"/>
+  <arg name="input/camera7/image"/>
+  <arg name="input/camera7/info"/>
+  <arg name="input/camera7/rois"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
   <arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
   <arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
   <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
@@ -51,39 +76,39 @@
   <!-- Camera ROI fusion -->
   <group>
     <include file="$(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)"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="$(var detection_rois1)"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="$(var detection_rois2)"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="$(var detection_rois3)"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="$(var detection_rois4)"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="$(var detection_rois5)"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="$(var detection_rois6)"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="$(var detection_rois7)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="input/rois_number" value="$(var number_of_cameras)"/>
+      <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+      <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+      <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+      <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+      <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+      <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+      <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+      <arg name="input/rois7" value="$(var input/camera7/rois)"/>
+      <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+      <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+      <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+      <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+      <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+      <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+      <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+      <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+      <arg name="input/image0" value="$(var input/camera0/image)"/>
+      <arg name="input/image1" value="$(var input/camera1/image)"/>
+      <arg name="input/image2" value="$(var input/camera2/image)"/>
+      <arg name="input/image3" value="$(var input/camera3/image)"/>
+      <arg name="input/image4" value="$(var input/camera4/image)"/>
+      <arg name="input/image5" value="$(var input/camera5/image)"/>
+      <arg name="input/image6" value="$(var input/camera6/image)"/>
+      <arg name="input/image7" value="$(var input/camera7/image)"/>
       <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>
+  <group if="$(var use_validator)">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
       <arg name="input/objects" value="$(var validator/input/objects)"/>

diff --git a/...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -11,21 +11,46 @@
   <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_validator"/>
+  <arg name="objects_validation_method"/>
   <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"/>
+  <arg name="use_object_filter" description="use object filter"/>
+  <arg name="objects_filter_method"/>
   <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="number_of_cameras"/>
+  <arg name="input/camera0/image"/>
+  <arg name="input/camera0/info"/>
+  <arg name="input/camera0/rois"/>
+  <arg name="input/camera1/image"/>
+  <arg name="input/camera1/info"/>
+  <arg name="input/camera1/rois"/>
+  <arg name="input/camera2/image"/>
+  <arg name="input/camera2/info"/>
+  <arg name="input/camera2/rois"/>
+  <arg name="input/camera3/image"/>
+  <arg name="input/camera3/info"/>
+  <arg name="input/camera3/rois"/>
+  <arg name="input/camera4/image"/>
+  <arg name="input/camera4/info"/>
+  <arg name="input/camera4/rois"/>
+  <arg name="input/camera5/image"/>
+  <arg name="input/camera5/info"/>
+  <arg name="input/camera5/rois"/>
+  <arg name="input/camera6/image"/>
+  <arg name="input/camera6/info"/>
+  <arg name="input/camera6/rois"/>
+  <arg name="input/camera7/image"/>
+  <arg name="input/camera7/info"/>
+  <arg name="input/camera7/rois"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/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/radar_far/objects" default="radar/far_objects"/>
   <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
   <arg name="output/objects" default="objects"/>
 
@@ -74,39 +99,39 @@
   <!-- Camera ROI fusion -->
   <group>
     <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="$(var detection_rois0)"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="$(var detection_rois1)"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="$(var detection_rois2)"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="$(var detection_rois3)"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="$(var detection_rois4)"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="$(var detection_rois5)"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="$(var detection_rois6)"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="$(var detection_rois7)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="input/rois_number" value="$(var number_of_cameras)"/>
+      <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+      <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+      <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+      <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+      <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+      <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+      <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+      <arg name="input/rois7" value="$(var input/camera7/rois)"/>
+      <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+      <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+      <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+      <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+      <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+      <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+      <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+      <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+      <arg name="input/image0" value="$(var input/camera0/image)"/>
+      <arg name="input/image1" value="$(var input/camera1/image)"/>
+      <arg name="input/image2" value="$(var input/camera2/image)"/>
+      <arg name="input/image3" value="$(var input/camera3/image)"/>
+      <arg name="input/image4" value="$(var input/camera4/image)"/>
+      <arg name="input/image5" value="$(var input/camera5/image)"/>
+      <arg name="input/image6" value="$(var input/camera6/image)"/>
+      <arg name="input/image7" value="$(var input/camera7/image)"/>
       <arg name="input/objects" value="$(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>
+  <group if="$(var use_validator)">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
       <arg name="input/objects" value="$(var validator/input/objects)"/>