From c68568470116e20b242b3751a27db29da601990f Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Fri, 31 May 2024 17:00:26 +0900
Subject: [PATCH] fix: input pointcloud topic names, mot input channels

---
 .../detection/merger/camera_lidar_merger.launch.xml           | 4 +++-
 .../detection/merger/camera_lidar_radar_merger.launch.xml     | 4 +++-
 .../detection/merger/lidar_merger.launch.xml                  | 4 +++-
 .../launch/object_recognition/tracking/tracking.launch.xml    | 4 +++-
 4 files changed, 12 insertions(+), 4 deletions(-)

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 c84c247e7dfc3..22f334dd1f60f 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
@@ -17,6 +17,8 @@
   <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="$(var lidar_detection_model)/objects"/>
   <arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
   <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
@@ -27,7 +29,7 @@
   <let name="camera_roi_fusion/output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
 
   <let name="validator/input/objects" value="$(var camera_roi_fusion/output/objects)"/>
-  <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
+  <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"/>
 
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 6e3735c828419..30a64206a0020 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
@@ -20,6 +20,8 @@
   <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="$(var lidar_detection_model)/objects"/>
   <arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
   <arg name="input/radar_near/objects" default="radar/noise_filtered_objects"/>
@@ -38,7 +40,7 @@
   <let name="camera_roi_fusion/output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
 
   <let name="validator/input/objects" value="$(var camera_roi_fusion/output/objects)"/>
-  <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
+  <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"/>
 
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 714afbca3dc73..125f5d12c7993 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
@@ -17,6 +17,8 @@
   <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"/>
@@ -24,7 +26,7 @@
 
   <!-- internal interfaces -->
   <let name="validator/input/objects" value="$(var input/lidar_ml/objects)"/>
-  <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
+  <let name="validator/input/obstacle_pointcloud" value="$(var input/pointcloud_map/pointcloud)" if="$(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"/>
 
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 e2882c0818221..146f030ccce54 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
@@ -12,6 +12,8 @@
   <arg name="use_radar_tracking_fusion" default="false" description="use radar tracking fusion"/>
 
   <!-- 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"/>
 
@@ -19,7 +21,7 @@
   <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="['detected_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)"/>