fix: radar pipeline output

launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

@@ -56,6 +56,8 @@
   <arg name="tracker_based_detector/output/objects" default="$(var ns)/detection_by_tracker/objects"/>
   <arg name="lidar_object_filter/output/objects" default="$(var ns)/$(var lidar_detection_model)/validation/objects"/>
   <arg name="camera_lidar_object_filter/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/filtered/objects"/>
+  <arg name="radar_pipeline/output/objects" default="$(var ns)/radar/far_objects"/>
+  <arg name="radar_object_filter/output/objects" default="$(var ns)/radar/far_objects"/>
 
   <!-- Module switching -->
   <arg name="switch/detector/camera_lidar" default="false"/>
@@ -179,7 +181,7 @@
     <push-ros-namespace namespace="radar"/>
     <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="output/objects" value="$(var radar_pipeline/output/objects)"/>
       <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
       <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
       <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
@@ -269,7 +271,7 @@
       <arg name="input/lidar_rule/objects" value="$(var camera_lidar_rule_detector/output/objects)"/>
       <arg name="input/detection_by_tracker/objects" value="$(var tracker_based_detector/output/objects)"/>
       <arg name="input/radar/objects" value="radar/noise_filtered_objects"/>
-      <arg name="input/radar_far/objects" value="radar/far_objects"/>
+      <arg name="input/radar_far/objects" value="$(var radar_pipeline/output/objects)"/>
       <arg name="output/objects" value="$(var output/objects)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>

launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml

@@ -4,7 +4,7 @@
   <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 -->
@@ -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">