From f8a8ba489455a9320b7de496d945f325fc2b3682 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Thu, 6 Jun 2024 15:28:34 +0900
Subject: [PATCH 01/19] feat: separate filters

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../filter/lidar_object_validator.launch.xml  | 35 +++++++++++++++++++
 1 file changed, 35 insertions(+)
 create mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/filter/lidar_object_validator.launch.xml

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/lidar_object_validator.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/lidar_object_validator.launch.xml
new file mode 100644
index 0000000000000..40330d544234f
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/lidar_object_validator.launch.xml
@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Pipeline junctions -->
+  <arg name="lidar_detection_model"/>
+  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="use_pointcloud_map"/>
+
+  <!-- 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="$(var lidar_detection_model)/objects"/>
+  <arg name="input/lidar_rule/objects" default="clustering/objects"/>
+
+  <!-- internal interfaces -->
+  <let name="validator/input/objects" value="$(var input/lidar_ml/objects)"/>
+  <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="$(var lidar_detection_model)/validation/objects"/>
+
+  <!-- Validator -->
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml">
+      <arg name="input/detected_objects" value="$(var validator/input/objects)"/>
+      <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
+      <arg name="output/objects" value="$(var validator/output/objects)"/>
+      <arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
+    </include>
+  </group>
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml">
+      <arg name="input/detected_objects" value="$(var validator/input/objects)"/>
+      <arg name="output/objects" value="$(var validator/output/objects)"/>
+    </include>
+  </group>
+</launch>

From dca89aae4b3002fece39118a99a765849ee7b079 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Fri, 7 Jun 2024 09:58:20 +0900
Subject: [PATCH 02/19] fix: object validator to modular

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../filter/lidar_object_validator.launch.xml  | 35 -------------------
 1 file changed, 35 deletions(-)
 delete mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/filter/lidar_object_validator.launch.xml

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/lidar_object_validator.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/lidar_object_validator.launch.xml
deleted file mode 100644
index 40330d544234f..0000000000000
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/lidar_object_validator.launch.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- Pipeline junctions -->
-  <arg name="lidar_detection_model"/>
-  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
-  <arg name="use_pointcloud_map"/>
-
-  <!-- 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="$(var lidar_detection_model)/objects"/>
-  <arg name="input/lidar_rule/objects" default="clustering/objects"/>
-
-  <!-- internal interfaces -->
-  <let name="validator/input/objects" value="$(var input/lidar_ml/objects)"/>
-  <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="$(var lidar_detection_model)/validation/objects"/>
-
-  <!-- Validator -->
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
-    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml">
-      <arg name="input/detected_objects" value="$(var validator/input/objects)"/>
-      <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
-      <arg name="output/objects" value="$(var validator/output/objects)"/>
-      <arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
-    </include>
-  </group>
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
-    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml">
-      <arg name="input/detected_objects" value="$(var validator/input/objects)"/>
-      <arg name="output/objects" value="$(var validator/output/objects)"/>
-    </include>
-  </group>
-</launch>

From cd5f2b4b149fdfdc45fdd6a9c24af87a8937301d Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Tue, 11 Jun 2024 18:30:09 +0900
Subject: [PATCH 03/19] chore: remove default values from subsequent launch
 files

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml            | 43 ++++++++++---------
 .../detection/filter/object_filter.launch.xml |  6 +--
 .../filter/object_validator.launch.xml        |  8 ++--
 .../detection/filter/radar_filter.launch.xml  |  4 +-
 .../launch/perception.launch.xml              |  5 ++-
 5 files changed, 34 insertions(+), 32 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
index 754d07c6d99bf..75245b416c944 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
@@ -1,33 +1,34 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Interface parameters -->
-  <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="use_detection_by_tracker"/>
+  <arg name="objects_validation_method"/>
 
   <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="use_object_filter" description="use object filter"/>
+  <arg name="pointcloud_container_name"/>
 
   <!-- Camera parameters -->
-  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
-  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
-  <arg name="image_raw1" default=""/>
-  <arg name="camera_info1" default=""/>
-  <arg name="image_raw2" default=""/>
-  <arg name="camera_info2" default=""/>
-  <arg name="image_raw3" default=""/>
-  <arg name="camera_info3" default=""/>
-  <arg name="image_raw4" default=""/>
-  <arg name="camera_info4" default=""/>
-  <arg name="image_raw5" default=""/>
-  <arg name="camera_info5" default=""/>
-  <arg name="image_raw6" default=""/>
-  <arg name="camera_info6" default=""/>
-  <arg name="image_raw7" default=""/>
-  <arg name="camera_info7" default=""/>
-  <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
+  <arg name="image_raw0"/>
+  <arg name="camera_info0"/>
+  <arg name="image_raw1"/>
+  <arg name="camera_info1"/>
+  <arg name="image_raw2"/>
+  <arg name="camera_info2"/>
+  <arg name="image_raw3"/>
+  <arg name="camera_info3"/>
+  <arg name="image_raw4"/>
+  <arg name="camera_info4"/>
+  <arg name="image_raw5"/>
+  <arg name="camera_info5"/>
+  <arg name="image_raw6"/>
+  <arg name="camera_info6"/>
+  <arg name="image_raw7"/>
+  <arg name="camera_info7"/>
+  <arg name="image_number"/>
 
   <!-- Radar parameters -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
index 7047aec77c660..d7bbcb01472eb 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
+++ b/launch/tier4_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/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
index b3704f130232a..9a09ad2871e85 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
+++ b/launch/tier4_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/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
index d837505649cf1..136871f347759 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
@@ -8,8 +8,8 @@
   <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">
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index dd80ab5b2cde7..479f8180e37f9 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -85,8 +85,8 @@
     description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
   />
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="objects_filter_method" default="lanelet_filter"/>
-  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
+  <arg name="objects_validation_method" default="obstacle_pointcloud" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
   <arg name="use_perception_online_evaluator" default="false" description="use perception online evaluator"/>
 
   <!-- Traffic light recognition parameters -->
@@ -218,6 +218,7 @@
           <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
 
           <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
+          <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
           <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>

From a04208a8db7f6dad2e64e7bfcad5b531ee501fa8 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Thu, 13 Jun 2024 09:48:00 +0900
Subject: [PATCH 04/19] chore: group interfaces and junctions

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml            | 29 ++++++++++---------
 1 file changed, 16 insertions(+), 13 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
index 75245b416c944..19e3974ff1150 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
@@ -1,17 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface parameters -->
-  <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
-  <arg name="use_detection_by_tracker"/>
-  <arg name="objects_validation_method"/>
-
-  <!-- Lidar parameters -->
-  <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="use_object_filter" description="use object filter"/>
-  <arg name="pointcloud_container_name"/>
-
-  <!-- Camera parameters -->
+  <!-- Camera interfaces -->
   <arg name="image_raw0"/>
   <arg name="camera_info0"/>
   <arg name="image_raw1"/>
@@ -30,9 +19,23 @@
   <arg name="camera_info7"/>
   <arg name="image_number"/>
 
-  <!-- Radar parameters -->
+  <!-- Lidar interfaces -->
+  <arg name="input/pointcloud"/>
+  <arg name="pointcloud_container_name"/>
+
+  <!-- Radar interfaces -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
 
+  <!-- Pipeline junctions -->
+  <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="lidar_centerpoint_model_name" description="options: `centerpoint`, `centerpoint_tiny` or `centerpoint_sigma`"/>
+  <arg name="use_object_filter" description="use object filter"/>
+  <arg name="use_detection_by_tracker"/>
+  <arg name="use_validator" description="use obstacle_pointcloud based validator"/>
+  <arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
+  <arg name="use_pointcloud_map" description="use pointcloud map in detection"/>
+
   <!-- Camera-Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
     <!-- Camera-Lidar detectors -->

From a6c79e505e6eac60c8abc00f11c1ac90ab0680a1 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Fri, 14 Jun 2024 17:35:00 +0900
Subject: [PATCH 05/19] Revert "chore: group interfaces and junctions"

This reverts commit 9d723c33c260a9a0ac896bdf81c2a6ebeb981479.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml            | 29 +++++++++----------
 1 file changed, 13 insertions(+), 16 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
index 19e3974ff1150..75245b416c944 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
@@ -1,6 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Camera interfaces -->
+  <!-- Interface parameters -->
+  <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="use_detection_by_tracker"/>
+  <arg name="objects_validation_method"/>
+
+  <!-- Lidar parameters -->
+  <arg name="input/pointcloud"/>
+  <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="use_object_filter" description="use object filter"/>
+  <arg name="pointcloud_container_name"/>
+
+  <!-- Camera parameters -->
   <arg name="image_raw0"/>
   <arg name="camera_info0"/>
   <arg name="image_raw1"/>
@@ -19,23 +30,9 @@
   <arg name="camera_info7"/>
   <arg name="image_number"/>
 
-  <!-- Lidar interfaces -->
-  <arg name="input/pointcloud"/>
-  <arg name="pointcloud_container_name"/>
-
-  <!-- Radar interfaces -->
+  <!-- Radar parameters -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
 
-  <!-- Pipeline junctions -->
-  <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
-  <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="lidar_centerpoint_model_name" description="options: `centerpoint`, `centerpoint_tiny` or `centerpoint_sigma`"/>
-  <arg name="use_object_filter" description="use object filter"/>
-  <arg name="use_detection_by_tracker"/>
-  <arg name="use_validator" description="use obstacle_pointcloud based validator"/>
-  <arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
-  <arg name="use_pointcloud_map" description="use pointcloud map in detection"/>
-
   <!-- Camera-Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
     <!-- Camera-Lidar detectors -->

From dcea21c5b7b67c8e0ee2a9089041dc0cc6bf9237 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Fri, 14 Jun 2024 17:59:42 +0900
Subject: [PATCH 06/19] chore: group interfaces and junctions

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml                   | 12 ++++++------
 1 file changed, 6 insertions(+), 6 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
index 75245b416c944..a87584dea8aea 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
@@ -1,17 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface parameters -->
+  <!-- Pipeline junctions -->
   <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="use_object_filter" description="use object filter"/>
   <arg name="use_detection_by_tracker"/>
   <arg name="objects_validation_method"/>
 
-  <!-- Lidar parameters -->
+  <!-- Lidar interfaces -->
   <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="use_object_filter" description="use object filter"/>
   <arg name="pointcloud_container_name"/>
 
-  <!-- Camera parameters -->
+  <!-- Camera interfaces -->
   <arg name="image_raw0"/>
   <arg name="camera_info0"/>
   <arg name="image_raw1"/>
@@ -30,7 +30,7 @@
   <arg name="camera_info7"/>
   <arg name="image_number"/>
 
-  <!-- Radar parameters -->
+  <!-- Radar interfaces -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
 
   <!-- Camera-Lidar-Radar fusion based detection -->

From 0431c427d096cbd39197a9f343613ccfc6947156 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Mon, 17 Jun 2024 14:37:27 +0900
Subject: [PATCH 07/19] fix: radar input

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../launch/object_recognition/detection/detection.launch.xml  | 2 +-
 launch/tier4_perception_launch/launch/perception.launch.xml   | 4 +++-
 2 files changed, 4 insertions(+), 2 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
index a87584dea8aea..e67fefd24f1ac 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
@@ -31,7 +31,7 @@
   <arg name="image_number"/>
 
   <!-- Radar interfaces -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
+  <arg name="input/radar"/>
 
   <!-- Camera-Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 479f8180e37f9..c32f6ef3fa821 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -115,12 +115,13 @@
   <!-- Whether to use detection by tracker -->
   <arg name="use_detection_by_tracker" default="true"/>
 
-  <!-- Radar long range integration methods -->
+  <!-- Radar parameters -->
   <arg
     name="use_radar_tracking_fusion"
     default="true"
     description="if use_radar_tracking_fusion:=true, radar information is merged in tracking launch. Otherwise, radar information is merged in detection launch."
   />
+  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
 
   <!-- Downsample pointcloud for perception usage -->
   <arg name="downsample_perception_common_pointcloud" default="false"/>
@@ -205,6 +206,7 @@
           <arg name="image_raw7" value="$(var image_raw7)"/>
           <arg name="camera_info7" value="$(var camera_info7)"/>
           <arg name="image_number" value="$(var image_number)"/>
+          <arg name="input/radar" value="$(var input/radar)"/>
           <arg name="sync_param_path" value="$(var object_recognition_detection_fusion_sync_param_path)"/>
           <arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>
           <arg name="roi_pointcloud_fusion_param_path" value="$(var object_recognition_detection_roi_pointcloud_fusion_param_path)"/>

From 10d26635f28f8854a881312a63f064e8960d892b Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Mon, 17 Jun 2024 16:37:35 +0900
Subject: [PATCH 08/19] fix: remove defaults from camera inputs

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml            | 40 +++++++++++++++
 .../detector/camera_lidar_detector.launch.xml | 50 +++++++++----------
 .../merger/camera_lidar_merger.launch.xml     | 25 ++++++++++
 .../camera_lidar_radar_merger.launch.xml      | 25 ++++++++++
 .../launch/perception.launch.xml              |  8 +++
 5 files changed, 123 insertions(+), 25 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
index e67fefd24f1ac..9a946a7b8ee37 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
@@ -14,20 +14,28 @@
   <!-- Camera interfaces -->
   <arg name="image_raw0"/>
   <arg name="camera_info0"/>
+  <arg name="detection_rois0"/>
   <arg name="image_raw1"/>
   <arg name="camera_info1"/>
+  <arg name="detection_rois1"/>
   <arg name="image_raw2"/>
   <arg name="camera_info2"/>
+  <arg name="detection_rois2"/>
   <arg name="image_raw3"/>
   <arg name="camera_info3"/>
+  <arg name="detection_rois3"/>
   <arg name="image_raw4"/>
   <arg name="camera_info4"/>
+  <arg name="detection_rois4" />
   <arg name="image_raw5"/>
   <arg name="camera_info5"/>
+  <arg name="detection_rois5" />
   <arg name="image_raw6"/>
   <arg name="camera_info6"/>
+  <arg name="detection_rois6"/>
   <arg name="image_raw7"/>
   <arg name="camera_info7"/>
+  <arg name="detection_rois7"/>
   <arg name="image_number"/>
 
   <!-- Radar interfaces -->
@@ -40,20 +48,28 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
+      <arg name="detection_rois0" value="$(var detection_rois0)"/>
       <arg name="image_raw1" value="$(var image_raw1)"/>
       <arg name="camera_info1" value="$(var camera_info1)"/>
+      <arg name="detection_rois1" value="$(var detection_rois1)"/>
       <arg name="image_raw2" value="$(var image_raw2)"/>
       <arg name="camera_info2" value="$(var camera_info2)"/>
+      <arg name="detection_rois2" value="$(var detection_rois2)"/>
       <arg name="image_raw3" value="$(var image_raw3)"/>
       <arg name="camera_info3" value="$(var camera_info3)"/>
+      <arg name="detection_rois3" value="$(var detection_rois3)"/>
       <arg name="image_raw4" value="$(var image_raw4)"/>
       <arg name="camera_info4" value="$(var camera_info4)"/>
+      <arg name="detection_rois4" value="$(var detection_rois4)"/>
       <arg name="image_raw5" value="$(var image_raw5)"/>
       <arg name="camera_info5" value="$(var camera_info5)"/>
+      <arg name="detection_rois5" value="$(var detection_rois5)"/>
       <arg name="image_raw6" value="$(var image_raw6)"/>
       <arg name="camera_info6" value="$(var camera_info6)"/>
+      <arg name="detection_rois6" value="$(var detection_rois6)"/>
       <arg name="image_raw7" value="$(var image_raw7)"/>
       <arg name="camera_info7" value="$(var camera_info7)"/>
+      <arg name="detection_rois7" value="$(var detection_rois7)"/>
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
@@ -90,20 +106,28 @@
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
+      <arg name="detection_rois0" value="$(var detection_rois0)"/>
       <arg name="image_raw1" value="$(var image_raw1)"/>
       <arg name="camera_info1" value="$(var camera_info1)"/>
+      <arg name="detection_rois1" value="$(var detection_rois1)"/>
       <arg name="image_raw2" value="$(var image_raw2)"/>
       <arg name="camera_info2" value="$(var camera_info2)"/>
+      <arg name="detection_rois2" value="$(var detection_rois2)"/>
       <arg name="image_raw3" value="$(var image_raw3)"/>
       <arg name="camera_info3" value="$(var camera_info3)"/>
+      <arg name="detection_rois3" value="$(var detection_rois3)"/>
       <arg name="image_raw4" value="$(var image_raw4)"/>
       <arg name="camera_info4" value="$(var camera_info4)"/>
+      <arg name="detection_rois4" value="$(var detection_rois4)"/>
       <arg name="image_raw5" value="$(var image_raw5)"/>
       <arg name="camera_info5" value="$(var camera_info5)"/>
+      <arg name="detection_rois5" value="$(var detection_rois5)"/>
       <arg name="image_raw6" value="$(var image_raw6)"/>
       <arg name="camera_info6" value="$(var camera_info6)"/>
+      <arg name="detection_rois6" value="$(var detection_rois6)"/>
       <arg name="image_raw7" value="$(var image_raw7)"/>
       <arg name="camera_info7" value="$(var camera_info7)"/>
+      <arg name="detection_rois7" value="$(var detection_rois7)"/>
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
@@ -121,20 +145,28 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
+      <arg name="detection_rois0" value="$(var detection_rois0)"/>
       <arg name="image_raw1" value="$(var image_raw1)"/>
       <arg name="camera_info1" value="$(var camera_info1)"/>
+      <arg name="detection_rois1" value="$(var detection_rois1)"/>
       <arg name="image_raw2" value="$(var image_raw2)"/>
       <arg name="camera_info2" value="$(var camera_info2)"/>
+      <arg name="detection_rois2" value="$(var detection_rois2)"/>
       <arg name="image_raw3" value="$(var image_raw3)"/>
       <arg name="camera_info3" value="$(var camera_info3)"/>
+      <arg name="detection_rois3" value="$(var detection_rois3)"/>
       <arg name="image_raw4" value="$(var image_raw4)"/>
       <arg name="camera_info4" value="$(var camera_info4)"/>
+      <arg name="detection_rois4" value="$(var detection_rois4)"/>
       <arg name="image_raw5" value="$(var image_raw5)"/>
       <arg name="camera_info5" value="$(var camera_info5)"/>
+      <arg name="detection_rois5" value="$(var detection_rois5)"/>
       <arg name="image_raw6" value="$(var image_raw6)"/>
       <arg name="camera_info6" value="$(var camera_info6)"/>
+      <arg name="detection_rois6" value="$(var detection_rois6)"/>
       <arg name="image_raw7" value="$(var image_raw7)"/>
       <arg name="camera_info7" value="$(var camera_info7)"/>
+      <arg name="detection_rois7" value="$(var detection_rois7)"/>
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
@@ -158,20 +190,28 @@
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
+      <arg name="detection_rois0" value="$(var detection_rois0)"/>
       <arg name="image_raw1" value="$(var image_raw1)"/>
       <arg name="camera_info1" value="$(var camera_info1)"/>
+      <arg name="detection_rois1" value="$(var detection_rois1)"/>
       <arg name="image_raw2" value="$(var image_raw2)"/>
       <arg name="camera_info2" value="$(var camera_info2)"/>
+      <arg name="detection_rois2" value="$(var detection_rois2)"/>
       <arg name="image_raw3" value="$(var image_raw3)"/>
       <arg name="camera_info3" value="$(var camera_info3)"/>
+      <arg name="detection_rois3" value="$(var detection_rois3)"/>
       <arg name="image_raw4" value="$(var image_raw4)"/>
       <arg name="camera_info4" value="$(var camera_info4)"/>
+      <arg name="detection_rois4" value="$(var detection_rois4)"/>
       <arg name="image_raw5" value="$(var image_raw5)"/>
       <arg name="camera_info5" value="$(var camera_info5)"/>
+      <arg name="detection_rois5" value="$(var detection_rois5)"/>
       <arg name="image_raw6" value="$(var image_raw6)"/>
       <arg name="camera_info6" value="$(var camera_info6)"/>
+      <arg name="detection_rois6" value="$(var detection_rois6)"/>
       <arg name="image_raw7" value="$(var image_raw7)"/>
       <arg name="camera_info7" value="$(var camera_info7)"/>
+      <arg name="detection_rois7" value="$(var detection_rois7)"/>
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index fe0ba0e614e60..233e4ce256ecb 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -11,31 +11,31 @@
   <arg name="use_low_intensity_cluster_filter" default="false"/>
 
   <!-- Camera parameters -->
-  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
-  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
-  <arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
-  <arg name="image_raw1" default="/image_raw1"/>
-  <arg name="camera_info1" default="/camera_info1"/>
-  <arg name="detection_rois1" default="/perception/object_recognition/detection/rois1"/>
-  <arg name="image_raw2" default="/image_raw2"/>
-  <arg name="camera_info2" default="/camera_info2"/>
-  <arg name="detection_rois2" default="/perception/object_recognition/detection/rois2"/>
-  <arg name="image_raw3" default="/image_raw3"/>
-  <arg name="camera_info3" default="/camera_info3"/>
-  <arg name="detection_rois3" default="/perception/object_recognition/detection/rois3"/>
-  <arg name="image_raw4" default="/image_raw4"/>
-  <arg name="camera_info4" default="/camera_info4"/>
-  <arg name="detection_rois4" default="/perception/object_recognition/detection/rois4"/>
-  <arg name="image_raw5" default="/image_raw5"/>
-  <arg name="camera_info5" default="/camera_info5"/>
-  <arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
-  <arg name="image_raw6" default="/image_raw6"/>
-  <arg name="camera_info6" default="/camera_info6"/>
-  <arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
-  <arg name="image_raw7" default="/image_raw7"/>
-  <arg name="camera_info7" default="/camera_info7"/>
-  <arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
-  <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
+  <arg name="image_raw0"/>
+  <arg name="camera_info0"/>
+  <arg name="detection_rois0"/>
+  <arg name="image_raw1"/>
+  <arg name="camera_info1"/>
+  <arg name="detection_rois1"/>
+  <arg name="image_raw2"/>
+  <arg name="camera_info2"/>
+  <arg name="detection_rois2"/>
+  <arg name="image_raw3"/>
+  <arg name="camera_info3"/>
+  <arg name="detection_rois3"/>
+  <arg name="image_raw4"/>
+  <arg name="camera_info4"/>
+  <arg name="detection_rois4" />
+  <arg name="image_raw5"/>
+  <arg name="camera_info5"/>
+  <arg name="detection_rois5" />
+  <arg name="image_raw6"/>
+  <arg name="camera_info6"/>
+  <arg name="detection_rois6"/>
+  <arg name="image_raw7"/>
+  <arg name="camera_info7"/>
+  <arg name="detection_rois7"/>
+  <arg name="image_number"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
index 5bcfe49643dce..3e0bcf25a3e7d 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -17,6 +17,31 @@
   <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
 
   <!-- external interfaces -->
+  <arg name="image_raw0"/>
+  <arg name="camera_info0"/>
+  <arg name="detection_rois0"/>
+  <arg name="image_raw1"/>
+  <arg name="camera_info1"/>
+  <arg name="detection_rois1"/>
+  <arg name="image_raw2"/>
+  <arg name="camera_info2"/>
+  <arg name="detection_rois2"/>
+  <arg name="image_raw3"/>
+  <arg name="camera_info3"/>
+  <arg name="detection_rois3"/>
+  <arg name="image_raw4"/>
+  <arg name="camera_info4"/>
+  <arg name="detection_rois4" />
+  <arg name="image_raw5"/>
+  <arg name="camera_info5"/>
+  <arg name="detection_rois5" />
+  <arg name="image_raw6"/>
+  <arg name="camera_info6"/>
+  <arg name="detection_rois6"/>
+  <arg name="image_raw7"/>
+  <arg name="camera_info7"/>
+  <arg name="detection_rois7"/>
+  <arg name="image_number"/>
   <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="$(var lidar_detection_model)/objects"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
index 07ab78cd37f72..8a512a5ecef07 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -20,6 +20,31 @@
   <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
 
   <!-- external interfaces -->
+  <arg name="image_raw0"/>
+  <arg name="camera_info0"/>
+  <arg name="detection_rois0"/>
+  <arg name="image_raw1"/>
+  <arg name="camera_info1"/>
+  <arg name="detection_rois1"/>
+  <arg name="image_raw2"/>
+  <arg name="camera_info2"/>
+  <arg name="detection_rois2"/>
+  <arg name="image_raw3"/>
+  <arg name="camera_info3"/>
+  <arg name="detection_rois3"/>
+  <arg name="image_raw4"/>
+  <arg name="camera_info4"/>
+  <arg name="detection_rois4" />
+  <arg name="image_raw5"/>
+  <arg name="camera_info5"/>
+  <arg name="detection_rois5" />
+  <arg name="image_raw6"/>
+  <arg name="camera_info6"/>
+  <arg name="detection_rois6"/>
+  <arg name="image_raw7"/>
+  <arg name="camera_info7"/>
+  <arg name="detection_rois7"/>
+  <arg name="image_number"/>
   <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="$(var lidar_detection_model)/objects"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index c32f6ef3fa821..f82549c988dd6 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -191,20 +191,28 @@
           <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
           <arg name="image_raw0" value="$(var image_raw0)"/>
           <arg name="camera_info0" value="$(var camera_info0)"/>
+          <arg name="detection_rois0" value="$(var detection_rois0)"/>
           <arg name="image_raw1" value="$(var image_raw1)"/>
           <arg name="camera_info1" value="$(var camera_info1)"/>
+          <arg name="detection_rois1" value="$(var detection_rois1)"/>
           <arg name="image_raw2" value="$(var image_raw2)"/>
           <arg name="camera_info2" value="$(var camera_info2)"/>
+          <arg name="detection_rois2" value="$(var detection_rois2)"/>
           <arg name="image_raw3" value="$(var image_raw3)"/>
           <arg name="camera_info3" value="$(var camera_info3)"/>
+          <arg name="detection_rois3" value="$(var detection_rois3)"/>
           <arg name="image_raw4" value="$(var image_raw4)"/>
           <arg name="camera_info4" value="$(var camera_info4)"/>
+          <arg name="detection_rois4" value="$(var detection_rois4)"/>
           <arg name="image_raw5" value="$(var image_raw5)"/>
           <arg name="camera_info5" value="$(var camera_info5)"/>
+          <arg name="detection_rois5" value="$(var detection_rois5)"/>
           <arg name="image_raw6" value="$(var image_raw6)"/>
           <arg name="camera_info6" value="$(var camera_info6)"/>
+          <arg name="detection_rois6" value="$(var detection_rois6)"/>
           <arg name="image_raw7" value="$(var image_raw7)"/>
           <arg name="camera_info7" value="$(var camera_info7)"/>
+          <arg name="detection_rois7" value="$(var detection_rois7)"/>
           <arg name="image_number" value="$(var image_number)"/>
           <arg name="input/radar" value="$(var input/radar)"/>
           <arg name="sync_param_path" value="$(var object_recognition_detection_fusion_sync_param_path)"/>

From 961e89c5021a0b948b3df632b4f98d67c12ae2b1 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Mon, 17 Jun 2024 16:44:55 +0900
Subject: [PATCH 09/19] chore: rename camera args

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml            | 240 +++++++++---------
 .../detector/camera_lidar_detector.launch.xml | 208 +++++++--------
 .../merger/camera_lidar_merger.launch.xml     |  96 +++----
 .../camera_lidar_radar_merger.launch.xml      |  96 +++----
 .../launch/perception.launch.xml              |  48 ++--
 5 files changed, 344 insertions(+), 344 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
index 9a946a7b8ee37..dda84299addb0 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
@@ -12,30 +12,30 @@
   <arg name="pointcloud_container_name"/>
 
   <!-- Camera interfaces -->
-  <arg name="image_raw0"/>
-  <arg name="camera_info0"/>
-  <arg name="detection_rois0"/>
-  <arg name="image_raw1"/>
-  <arg name="camera_info1"/>
-  <arg name="detection_rois1"/>
-  <arg name="image_raw2"/>
-  <arg name="camera_info2"/>
-  <arg name="detection_rois2"/>
-  <arg name="image_raw3"/>
-  <arg name="camera_info3"/>
-  <arg name="detection_rois3"/>
-  <arg name="image_raw4"/>
-  <arg name="camera_info4"/>
-  <arg name="detection_rois4" />
-  <arg name="image_raw5"/>
-  <arg name="camera_info5"/>
-  <arg name="detection_rois5" />
-  <arg name="image_raw6"/>
-  <arg name="camera_info6"/>
-  <arg name="detection_rois6"/>
-  <arg name="image_raw7"/>
-  <arg name="camera_info7"/>
-  <arg name="detection_rois7"/>
+  <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="image_number"/>
 
   <!-- Radar interfaces -->
@@ -46,30 +46,30 @@
     <!-- Camera-Lidar detectors -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="detection_rois0" value="$(var detection_rois0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="detection_rois1" value="$(var detection_rois1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="detection_rois2" value="$(var detection_rois2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="detection_rois3" value="$(var detection_rois3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="detection_rois4" value="$(var detection_rois4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="detection_rois5" value="$(var detection_rois5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="detection_rois6" value="$(var detection_rois6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="detection_rois7" value="$(var detection_rois7)"/>
+      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
+      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
+      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
+      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
+      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
+      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
+      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
+      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
+      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
+      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
+      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
+      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
+      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
+      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
+      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
+      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
@@ -104,30 +104,30 @@
     </group>
     <!-- Object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="detection_rois0" value="$(var detection_rois0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="detection_rois1" value="$(var detection_rois1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="detection_rois2" value="$(var detection_rois2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="detection_rois3" value="$(var detection_rois3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="detection_rois4" value="$(var detection_rois4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="detection_rois5" value="$(var detection_rois5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="detection_rois6" value="$(var detection_rois6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="detection_rois7" value="$(var detection_rois7)"/>
+      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
+      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
+      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
+      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
+      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
+      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
+      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
+      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
+      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
+      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
+      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
+      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
+      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
+      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
+      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
+      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
@@ -143,30 +143,30 @@
     <!-- Camera-Lidar detectors -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="detection_rois0" value="$(var detection_rois0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="detection_rois1" value="$(var detection_rois1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="detection_rois2" value="$(var detection_rois2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="detection_rois3" value="$(var detection_rois3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="detection_rois4" value="$(var detection_rois4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="detection_rois5" value="$(var detection_rois5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="detection_rois6" value="$(var detection_rois6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="detection_rois7" value="$(var detection_rois7)"/>
+      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
+      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
+      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
+      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
+      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
+      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
+      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
+      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
+      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
+      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
+      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
+      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
+      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
+      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
+      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
+      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
@@ -188,30 +188,30 @@
     </group>
     <!-- Object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="detection_rois0" value="$(var detection_rois0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="detection_rois1" value="$(var detection_rois1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="detection_rois2" value="$(var detection_rois2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="detection_rois3" value="$(var detection_rois3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="detection_rois4" value="$(var detection_rois4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="detection_rois5" value="$(var detection_rois5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="detection_rois6" value="$(var detection_rois6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="detection_rois7" value="$(var detection_rois7)"/>
+      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
+      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
+      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
+      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
+      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
+      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
+      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
+      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
+      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
+      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
+      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
+      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
+      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
+      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
+      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
+      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 233e4ce256ecb..88842ebe8d4cd 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -11,42 +11,42 @@
   <arg name="use_low_intensity_cluster_filter" default="false"/>
 
   <!-- Camera parameters -->
-  <arg name="image_raw0"/>
-  <arg name="camera_info0"/>
-  <arg name="detection_rois0"/>
-  <arg name="image_raw1"/>
-  <arg name="camera_info1"/>
-  <arg name="detection_rois1"/>
-  <arg name="image_raw2"/>
-  <arg name="camera_info2"/>
-  <arg name="detection_rois2"/>
-  <arg name="image_raw3"/>
-  <arg name="camera_info3"/>
-  <arg name="detection_rois3"/>
-  <arg name="image_raw4"/>
-  <arg name="camera_info4"/>
-  <arg name="detection_rois4" />
-  <arg name="image_raw5"/>
-  <arg name="camera_info5"/>
-  <arg name="detection_rois5" />
-  <arg name="image_raw6"/>
-  <arg name="camera_info6"/>
-  <arg name="detection_rois6"/>
-  <arg name="image_raw7"/>
-  <arg name="camera_info7"/>
-  <arg name="detection_rois7"/>
+  <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="image_number"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
-    <arg name="image_raw0" value="$(var image_raw0)"/>
-    <arg name="image_raw1" value="$(var image_raw1)"/>
-    <arg name="image_raw2" value="$(var image_raw2)"/>
-    <arg name="image_raw3" value="$(var image_raw3)"/>
-    <arg name="image_raw4" value="$(var image_raw4)"/>
-    <arg name="image_raw5" value="$(var image_raw5)"/>
-    <arg name="image_raw6" value="$(var image_raw6)"/>
-    <arg name="image_raw7" value="$(var image_raw7)"/>
+    <arg name="image_raw0" value="$(var input/camera0/image)"/>
+    <arg name="image_raw1" value="$(var input/camera1/image)"/>
+    <arg name="image_raw2" value="$(var input/camera2/image)"/>
+    <arg name="image_raw3" value="$(var input/camera3/image)"/>
+    <arg name="image_raw4" value="$(var input/camera4/image)"/>
+    <arg name="image_raw5" value="$(var input/camera5/image)"/>
+    <arg name="image_raw6" value="$(var input/camera6/image)"/>
+    <arg name="image_raw7" value="$(var input/camera7/image)"/>
     <arg name="image_number" value="$(var image_number)"/>
   </include> -->
 
@@ -54,31 +54,31 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
     <push-ros-namespace namespace="pointpainting"/>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(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="$(var detection_rois7)"/>
+      <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+      <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+      <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+      <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+      <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+      <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+      <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+      <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+      <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+      <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+      <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+      <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+      <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+      <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+      <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+      <arg name="input/rois7" value="$(var input/camera7/rois)"/>
       <arg name="input/rois_number" value="$(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/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/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/objects" value="objects"/>
       <arg name="model_name" value="$(var lidar_detection_model)"/>
@@ -122,31 +122,31 @@
       <push-ros-namespace namespace="roi_cluster"/>
       <group>
         <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
-          <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/camera_info0" value="$(var input/camera0/info)"/>
+          <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+          <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+          <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+          <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+          <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+          <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+          <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+          <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+          <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+          <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+          <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+          <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+          <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+          <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+          <arg name="input/rois7" value="$(var input/camera7/rois)"/>
           <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="$(var image_raw7)"/>
+          <arg name="input/image0" value="$(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="$(var input/camera7/image)"/>
           <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
           <arg name="output_clusters" value="clusters"/>
           <arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
@@ -178,32 +178,32 @@
       <!-- euclidean clustering -->
       <group>
         <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
-          <arg name="input/camera_info0" value="$(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="$(var detection_rois7)"/>
+          <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+          <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+          <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+          <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+          <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+          <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+          <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+          <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+          <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+          <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+          <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+          <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+          <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+          <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+          <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+          <arg name="input/rois7" value="$(var input/camera7/rois)"/>
           <arg name="input/rois_number" value="$(var image_number)"/>
           <arg name="input/clusters" value="$(var input/clustering)"/>
-          <arg name="input/image0" value="$(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="$(var image_raw7)"/>
+          <arg name="input/image0" value="$(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="$(var input/camera7/image)"/>
           <arg name="output/clusters" value="clusters"/>
           <arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
         </include>
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 3e0bcf25a3e7d..73f6e226b20a9 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
@@ -17,30 +17,30 @@
   <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="image_raw0"/>
-  <arg name="camera_info0"/>
-  <arg name="detection_rois0"/>
-  <arg name="image_raw1"/>
-  <arg name="camera_info1"/>
-  <arg name="detection_rois1"/>
-  <arg name="image_raw2"/>
-  <arg name="camera_info2"/>
-  <arg name="detection_rois2"/>
-  <arg name="image_raw3"/>
-  <arg name="camera_info3"/>
-  <arg name="detection_rois3"/>
-  <arg name="image_raw4"/>
-  <arg name="camera_info4"/>
-  <arg name="detection_rois4" />
-  <arg name="image_raw5"/>
-  <arg name="camera_info5"/>
-  <arg name="detection_rois5" />
-  <arg name="image_raw6"/>
-  <arg name="camera_info6"/>
-  <arg name="detection_rois6"/>
-  <arg name="image_raw7"/>
-  <arg name="camera_info7"/>
-  <arg name="detection_rois7"/>
+  <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="image_number"/>
   <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"/>
@@ -76,31 +76,31 @@
   <!-- 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="$(var detection_rois7)"/>
+      <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+      <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+      <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+      <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+      <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+      <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+      <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+      <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+      <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+      <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+      <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+      <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+      <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+      <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+      <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+      <arg name="input/rois7" value="$(var input/camera7/rois)"/>
       <arg name="input/rois_number" value="$(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/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="$(var roi_detected_object_fusion_param_path)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
index 8a512a5ecef07..0a21956a09cd1 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -20,30 +20,30 @@
   <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
 
   <!-- external interfaces -->
-  <arg name="image_raw0"/>
-  <arg name="camera_info0"/>
-  <arg name="detection_rois0"/>
-  <arg name="image_raw1"/>
-  <arg name="camera_info1"/>
-  <arg name="detection_rois1"/>
-  <arg name="image_raw2"/>
-  <arg name="camera_info2"/>
-  <arg name="detection_rois2"/>
-  <arg name="image_raw3"/>
-  <arg name="camera_info3"/>
-  <arg name="detection_rois3"/>
-  <arg name="image_raw4"/>
-  <arg name="camera_info4"/>
-  <arg name="detection_rois4" />
-  <arg name="image_raw5"/>
-  <arg name="camera_info5"/>
-  <arg name="detection_rois5" />
-  <arg name="image_raw6"/>
-  <arg name="camera_info6"/>
-  <arg name="detection_rois6"/>
-  <arg name="image_raw7"/>
-  <arg name="camera_info7"/>
-  <arg name="detection_rois7"/>
+  <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="image_number"/>
   <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"/>
@@ -99,31 +99,31 @@
   <!-- 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="$(var detection_rois7)"/>
+      <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+      <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+      <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+      <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+      <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+      <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+      <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+      <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+      <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+      <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+      <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+      <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+      <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+      <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+      <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+      <arg name="input/rois7" value="$(var input/camera7/rois)"/>
       <arg name="input/rois_number" value="$(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/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="$(var roi_detected_object_fusion_param_path)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index f82549c988dd6..8fe47ec93c6a4 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -189,30 +189,30 @@
           <arg name="mode" value="$(var mode)"/>
           <arg name="input/pointcloud" value="$(var perception_pointcloud)"/>
           <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-          <arg name="image_raw0" value="$(var image_raw0)"/>
-          <arg name="camera_info0" value="$(var camera_info0)"/>
-          <arg name="detection_rois0" value="$(var detection_rois0)"/>
-          <arg name="image_raw1" value="$(var image_raw1)"/>
-          <arg name="camera_info1" value="$(var camera_info1)"/>
-          <arg name="detection_rois1" value="$(var detection_rois1)"/>
-          <arg name="image_raw2" value="$(var image_raw2)"/>
-          <arg name="camera_info2" value="$(var camera_info2)"/>
-          <arg name="detection_rois2" value="$(var detection_rois2)"/>
-          <arg name="image_raw3" value="$(var image_raw3)"/>
-          <arg name="camera_info3" value="$(var camera_info3)"/>
-          <arg name="detection_rois3" value="$(var detection_rois3)"/>
-          <arg name="image_raw4" value="$(var image_raw4)"/>
-          <arg name="camera_info4" value="$(var camera_info4)"/>
-          <arg name="detection_rois4" value="$(var detection_rois4)"/>
-          <arg name="image_raw5" value="$(var image_raw5)"/>
-          <arg name="camera_info5" value="$(var camera_info5)"/>
-          <arg name="detection_rois5" value="$(var detection_rois5)"/>
-          <arg name="image_raw6" value="$(var image_raw6)"/>
-          <arg name="camera_info6" value="$(var camera_info6)"/>
-          <arg name="detection_rois6" value="$(var detection_rois6)"/>
-          <arg name="image_raw7" value="$(var image_raw7)"/>
-          <arg name="camera_info7" value="$(var camera_info7)"/>
-          <arg name="detection_rois7" value="$(var detection_rois7)"/>
+          <arg name="input/camera0/image" value="$(var image_raw0)"/>
+          <arg name="input/camera0/info" value="$(var camera_info0)"/>
+          <arg name="input/camera0/rois" value="$(var detection_rois0)"/>
+          <arg name="input/camera1/image" value="$(var image_raw1)"/>
+          <arg name="input/camera1/info" value="$(var camera_info1)"/>
+          <arg name="input/camera1/rois" value="$(var detection_rois1)"/>
+          <arg name="input/camera2/image" value="$(var image_raw2)"/>
+          <arg name="input/camera2/info" value="$(var camera_info2)"/>
+          <arg name="input/camera2/rois" value="$(var detection_rois2)"/>
+          <arg name="input/camera3/image" value="$(var image_raw3)"/>
+          <arg name="input/camera3/info" value="$(var camera_info3)"/>
+          <arg name="input/camera3/rois" value="$(var detection_rois3)"/>
+          <arg name="input/camera4/image" value="$(var image_raw4)"/>
+          <arg name="input/camera4/info" value="$(var camera_info4)"/>
+          <arg name="input/camera4/rois" value="$(var detection_rois4)"/>
+          <arg name="input/camera5/image" value="$(var image_raw5)"/>
+          <arg name="input/camera5/info" value="$(var camera_info5)"/>
+          <arg name="input/camera5/rois" value="$(var detection_rois5)"/>
+          <arg name="input/camera6/image" value="$(var image_raw6)"/>
+          <arg name="input/camera6/info" value="$(var camera_info6)"/>
+          <arg name="input/camera6/rois" value="$(var detection_rois6)"/>
+          <arg name="input/camera7/image" value="$(var image_raw7)"/>
+          <arg name="input/camera7/info" value="$(var camera_info7)"/>
+          <arg name="input/camera7/rois" value="$(var detection_rois7)"/>
           <arg name="image_number" value="$(var image_number)"/>
           <arg name="input/radar" value="$(var input/radar)"/>
           <arg name="sync_param_path" value="$(var object_recognition_detection_fusion_sync_param_path)"/>

From 274f2f9f2249a1772911590c21ad90163e2a69ad Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Mon, 17 Jun 2024 17:19:26 +0900
Subject: [PATCH 10/19] chore: reorder

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml            | 144 +++++++++---------
 .../detector/camera_lidar_detector.launch.xml |  64 ++++----
 .../merger/camera_lidar_merger.launch.xml     |  20 +--
 .../camera_lidar_radar_merger.launch.xml      |  20 +--
 .../launch/perception.launch.xml              |   6 +-
 5 files changed, 127 insertions(+), 127 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
index dda84299addb0..f86c2a2394ab4 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
@@ -12,6 +12,7 @@
   <arg name="pointcloud_container_name"/>
 
   <!-- Camera interfaces -->
+  <arg name="number_of_cameras"/>
   <arg name="input/camera0/image"/>
   <arg name="input/camera0/info"/>
   <arg name="input/camera0/rois"/>
@@ -36,7 +37,6 @@
   <arg name="input/camera7/image"/>
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
-  <arg name="image_number"/>
 
   <!-- Radar interfaces -->
   <arg name="input/radar"/>
@@ -45,35 +45,35 @@
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
     <!-- Camera-Lidar detectors -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
-      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
-      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
-      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
       <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
-      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
-      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
       <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
-      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
-      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
       <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
-      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
-      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
       <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
-      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
-      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
       <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
-      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
-      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
       <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
-      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
-      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
       <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
-      <arg name="image_number" value="$(var image_number)"/>
+      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(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)"/>
@@ -104,31 +104,31 @@
     </group>
     <!-- Object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
-      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
-      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
-      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
-      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
       <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
-      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
-      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
       <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
-      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
-      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
       <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
-      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
-      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
       <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
-      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
-      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
       <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
-      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
-      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
       <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
-      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
-      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
       <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
-      <arg name="image_number" value="$(var image_number)"/>
+      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
@@ -143,34 +143,34 @@
     <!-- Camera-Lidar detectors -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
-      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
-      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
-      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
       <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
-      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
-      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
       <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
-      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
-      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
       <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
-      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
-      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
       <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
-      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
-      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
       <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
-      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
-      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
       <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
-      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
-      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
       <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
-      <arg name="image_number" value="$(var image_number)"/>
+      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_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="$(var detection_by_tracker_param_path)"/>
@@ -188,31 +188,31 @@
     </group>
     <!-- Object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
-      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
-      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
       <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
-      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
-      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
       <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
-      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
-      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
       <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
-      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
-      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
       <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
-      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
-      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
       <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
-      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
-      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
       <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
-      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
-      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
       <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
-      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
-      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
       <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
-      <arg name="image_number" value="$(var image_number)"/>
+      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
+      <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 88842ebe8d4cd..9dd012c39cf8c 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -6,11 +6,12 @@
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <!-- Lidar + Camera detector parameters -->
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="lidar_detection_model" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_roi_based_cluster" default="false"/>
   <arg name="use_low_intensity_cluster_filter" default="false"/>
 
   <!-- Camera parameters -->
+  <arg name="number_of_cameras"/>
   <arg name="input/camera0/image"/>
   <arg name="input/camera0/info"/>
   <arg name="input/camera0/rois"/>
@@ -35,7 +36,6 @@
   <arg name="input/camera7/image"/>
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
-  <arg name="image_number"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
@@ -47,30 +47,30 @@
     <arg name="image_raw5" value="$(var input/camera5/image)"/>
     <arg name="image_raw6" value="$(var input/camera6/image)"/>
     <arg name="image_raw7" value="$(var input/camera7/image)"/>
-    <arg name="image_number" value="$(var image_number)"/>
+    <arg name="image_number" value="$(var number_of_cameras)"/>
   </include> -->
 
   <!-- PointPainting -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
     <push-ros-namespace namespace="pointpainting"/>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+      <arg name="input/rois_number" value="$(var number_of_cameras)"/>
       <arg name="input/rois0" value="$(var input/camera0/rois)"/>
-      <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
       <arg name="input/rois1" value="$(var input/camera1/rois)"/>
-      <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
       <arg name="input/rois2" value="$(var input/camera2/rois)"/>
-      <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
       <arg name="input/rois3" value="$(var input/camera3/rois)"/>
-      <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
       <arg name="input/rois4" value="$(var input/camera4/rois)"/>
-      <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
       <arg name="input/rois5" value="$(var input/camera5/rois)"/>
-      <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
       <arg name="input/rois6" value="$(var input/camera6/rois)"/>
-      <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
       <arg name="input/rois7" value="$(var input/camera7/rois)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
+      <arg name="input/camera_info0" value="$(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)"/>
@@ -81,12 +81,12 @@
       <arg name="input/image7" value="$(var input/camera7/image)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/objects" value="objects"/>
+
       <arg name="model_name" value="$(var lidar_detection_model)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
       <arg name="model_param_path" value="$(var lidar_model_param_path)/pointpainting.param.yaml"/>
       <arg name="ml_package_param_path" value="$(var model_path)/pointpainting_ml_package.param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
-
       <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
@@ -122,23 +122,23 @@
       <push-ros-namespace namespace="roi_cluster"/>
       <group>
         <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
-          <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+          <arg name="input/rois_number" value="$(var number_of_cameras)"/>
           <arg name="input/rois0" value="$(var input/camera0/rois)"/>
-          <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
           <arg name="input/rois1" value="$(var input/camera1/rois)"/>
-          <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
           <arg name="input/rois2" value="$(var input/camera2/rois)"/>
-          <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
           <arg name="input/rois3" value="$(var input/camera3/rois)"/>
-          <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
           <arg name="input/rois4" value="$(var input/camera4/rois)"/>
-          <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
           <arg name="input/rois5" value="$(var input/camera5/rois)"/>
-          <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
           <arg name="input/rois6" value="$(var input/camera6/rois)"/>
-          <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
           <arg name="input/rois7" value="$(var input/camera7/rois)"/>
-          <arg name="input/rois_number" value="$(var image_number)"/>
+          <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="$(var input/camera2/image)"/>
@@ -178,24 +178,23 @@
       <!-- euclidean clustering -->
       <group>
         <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
-          <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+          <arg name="input/rois_number" value="$(var number_of_cameras)"/>
           <arg name="input/rois0" value="$(var input/camera0/rois)"/>
-          <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
           <arg name="input/rois1" value="$(var input/camera1/rois)"/>
-          <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
           <arg name="input/rois2" value="$(var input/camera2/rois)"/>
-          <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
           <arg name="input/rois3" value="$(var input/camera3/rois)"/>
-          <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
           <arg name="input/rois4" value="$(var input/camera4/rois)"/>
-          <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
           <arg name="input/rois5" value="$(var input/camera5/rois)"/>
-          <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
           <arg name="input/rois6" value="$(var input/camera6/rois)"/>
-          <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
           <arg name="input/rois7" value="$(var input/camera7/rois)"/>
-          <arg name="input/rois_number" value="$(var image_number)"/>
-          <arg name="input/clusters" value="$(var input/clustering)"/>
+          <arg name="input/camera_info0" value="$(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)"/>
@@ -204,6 +203,7 @@
           <arg name="input/image5" value="$(var input/camera5/image)"/>
           <arg name="input/image6" value="$(var input/camera6/image)"/>
           <arg name="input/image7" value="$(var input/camera7/image)"/>
+          <arg name="input/clusters" value="$(var input/clustering)"/>
           <arg name="output/clusters" value="clusters"/>
           <arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
         </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
index 73f6e226b20a9..8ab7aae2212a3 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -17,6 +17,7 @@
   <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
 
   <!-- external interfaces -->
+  <arg name="number_of_cameras"/>
   <arg name="input/camera0/image"/>
   <arg name="input/camera0/info"/>
   <arg name="input/camera0/rois"/>
@@ -41,7 +42,6 @@
   <arg name="input/camera7/image"/>
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
-  <arg name="image_number"/>
   <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="$(var lidar_detection_model)/objects"/>
@@ -76,23 +76,23 @@
   <!-- Camera ROI fusion -->
   <group>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+      <arg name="input/rois_number" value="$(var number_of_cameras)"/>
       <arg name="input/rois0" value="$(var input/camera0/rois)"/>
-      <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
       <arg name="input/rois1" value="$(var input/camera1/rois)"/>
-      <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
       <arg name="input/rois2" value="$(var input/camera2/rois)"/>
-      <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
       <arg name="input/rois3" value="$(var input/camera3/rois)"/>
-      <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
       <arg name="input/rois4" value="$(var input/camera4/rois)"/>
-      <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
       <arg name="input/rois5" value="$(var input/camera5/rois)"/>
-      <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
       <arg name="input/rois6" value="$(var input/camera6/rois)"/>
-      <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
       <arg name="input/rois7" value="$(var input/camera7/rois)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
+      <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="$(var input/camera2/image)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
index 0a21956a09cd1..57b318d134f83 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -20,6 +20,7 @@
   <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
 
   <!-- external interfaces -->
+  <arg name="number_of_cameras"/>
   <arg name="input/camera0/image"/>
   <arg name="input/camera0/info"/>
   <arg name="input/camera0/rois"/>
@@ -44,7 +45,6 @@
   <arg name="input/camera7/image"/>
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
-  <arg name="image_number"/>
   <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="$(var lidar_detection_model)/objects"/>
@@ -99,23 +99,23 @@
   <!-- Camera ROI fusion -->
   <group>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+      <arg name="input/rois_number" value="$(var number_of_cameras)"/>
       <arg name="input/rois0" value="$(var input/camera0/rois)"/>
-      <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
       <arg name="input/rois1" value="$(var input/camera1/rois)"/>
-      <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
       <arg name="input/rois2" value="$(var input/camera2/rois)"/>
-      <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
       <arg name="input/rois3" value="$(var input/camera3/rois)"/>
-      <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
       <arg name="input/rois4" value="$(var input/camera4/rois)"/>
-      <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
       <arg name="input/rois5" value="$(var input/camera5/rois)"/>
-      <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
       <arg name="input/rois6" value="$(var input/camera6/rois)"/>
-      <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
       <arg name="input/rois7" value="$(var input/camera7/rois)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
+      <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="$(var input/camera2/image)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 8fe47ec93c6a4..cf5523c64e9b5 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -187,8 +187,8 @@
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
           <arg name="mode" value="$(var mode)"/>
-          <arg name="input/pointcloud" value="$(var perception_pointcloud)"/>
           <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+          <arg name="number_of_cameras" value="$(var image_number)"/>
           <arg name="input/camera0/image" value="$(var image_raw0)"/>
           <arg name="input/camera0/info" value="$(var camera_info0)"/>
           <arg name="input/camera0/rois" value="$(var detection_rois0)"/>
@@ -213,7 +213,8 @@
           <arg name="input/camera7/image" value="$(var image_raw7)"/>
           <arg name="input/camera7/info" value="$(var camera_info7)"/>
           <arg name="input/camera7/rois" value="$(var detection_rois7)"/>
-          <arg name="image_number" value="$(var image_number)"/>
+          <arg name="input/pointcloud" value="$(var perception_pointcloud)"/>
+          <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
           <arg name="input/radar" value="$(var input/radar)"/>
           <arg name="sync_param_path" value="$(var object_recognition_detection_fusion_sync_param_path)"/>
           <arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>
@@ -233,7 +234,6 @@
           <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="$(var use_object_filter)"/>
-          <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
         </include>
       </group>

From 9238688706d6483bb2f98277a94974592310e861 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Mon, 17 Jun 2024 17:48:05 +0900
Subject: [PATCH 11/19] fix: remove defaults from lidar interface

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml            | 26 ++++++++++++++++---
 .../detector/camera_lidar_detector.launch.xml |  7 ++---
 .../detector/lidar_rule_detector.launch.xml   |  7 ++---
 .../merger/camera_lidar_merger.launch.xml     |  4 +--
 .../camera_lidar_radar_merger.launch.xml      |  4 +--
 .../detection/merger/lidar_merger.launch.xml  |  6 ++---
 6 files changed, 37 insertions(+), 17 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
index f86c2a2394ab4..d29cd1b41e3c9 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
@@ -9,6 +9,8 @@
 
   <!-- Lidar interfaces -->
   <arg name="input/pointcloud"/>
+  <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="pointcloud_container_name"/>
 
   <!-- Camera interfaces -->
@@ -71,6 +73,8 @@
       <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
       <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
@@ -129,6 +133,8 @@
       <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
       <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
       <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
@@ -142,8 +148,6 @@
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
     <!-- Camera-Lidar detectors -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
       <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
@@ -169,6 +173,9 @@
       <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
       <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
       <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
@@ -212,6 +219,8 @@
       <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
       <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
       <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
@@ -242,9 +251,11 @@
     </include>
     <!-- Lidar rule-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
     <!-- DetectionByTracker -->
     <group if="$(var use_detection_by_tracker)">
@@ -254,6 +265,8 @@
     </group>
     <!-- Lidar object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output/objects" value="lidar/objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
@@ -277,9 +290,11 @@
     </include>
     <!-- Lidar rule-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
     <!-- DetectionByTracker -->
     <group if="$(var use_detection_by_tracker)">
@@ -289,6 +304,9 @@
     </group>
     <!-- Lidar object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="output/objects" value="objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 9dd012c39cf8c..faad3c16b6abe 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -2,7 +2,8 @@
 <launch>
   <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <!-- Lidar + Camera detector parameters -->
@@ -111,7 +112,7 @@
       <let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
       <let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
       <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="$(var euclidean_cluster_output)"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       </include>
@@ -147,7 +148,7 @@
           <arg name="input/image5" value="$(var input/camera5/image)"/>
           <arg name="input/image6" value="$(var input/camera6/image)"/>
           <arg name="input/image7" value="$(var input/camera7/image)"/>
-          <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+          <arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
           <arg name="output_clusters" value="clusters"/>
           <arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
         </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
index e78823429195f..f55ff1ba06b8e 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -1,8 +1,9 @@
 <?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="pointcloud_container_name"/>
 
   <!-- Pointcloud filter -->
   <group>
@@ -21,7 +22,7 @@
     <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)"/>
 
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 8ab7aae2212a3..96da3a026afec 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
@@ -42,8 +42,8 @@
   <arg name="input/camera7/image"/>
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
-  <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/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
   <arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
   <arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
   <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
index 57b318d134f83..96712c0a0c157 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -45,8 +45,8 @@
   <arg name="input/camera7/image"/>
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
-  <arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
   <arg name="input/lidar_ml/objects" default="$(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"/>
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 f0ce19db6c342..b0e17d1fdea85 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
@@ -17,12 +17,12 @@
   <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/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/objects"/>
   <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
-  <arg name="output/objects" default="objects"/>
+  <arg name="output/objects"/>
 
   <!-- internal interfaces -->
   <let name="validator/input/objects" value="$(var input/lidar_ml/objects)"/>

From a4ce5dbfe511535f76e14c9c2a1f71b625fdf2d3 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Mon, 17 Jun 2024 18:07:32 +0900
Subject: [PATCH 12/19] Add use_pointcloud_map and use_validator arguments to
 detection.launch.xml

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml                   | 12 +++++++++++-
 .../detection/merger/camera_lidar_merger.launch.xml  |  6 +++---
 .../merger/camera_lidar_radar_merger.launch.xml      |  6 +++---
 .../detection/merger/lidar_merger.launch.xml         |  6 +++---
 4 files changed, 20 insertions(+), 10 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
index d29cd1b41e3c9..fd8692ab5fd27 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
@@ -4,7 +4,9 @@
   <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_object_filter" description="use object filter"/>
+  <arg name="use_pointcloud_map" description="use pointcloud map filter"/>
   <arg name="use_detection_by_tracker"/>
+  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="objects_validation_method"/>
 
   <!-- Lidar interfaces -->
@@ -140,6 +142,8 @@
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="use_validator" value="$(var use_validator)"/>
+      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
       <arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
   </group>
@@ -195,6 +199,7 @@
     </group>
     <!-- Object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
+      <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
       <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
       <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
@@ -221,8 +226,9 @@
       <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
       <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="use_validator" value="$(var use_validator)"/>
+      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
@@ -272,6 +278,8 @@
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="use_validator" value="$(var use_validator)"/>
+      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
     </include>
     <!-- Lidar-Radar object merger-->
     <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
@@ -311,6 +319,8 @@
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="use_validator" value="$(var use_validator)"/>
+      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
     </include>
   </group>
 
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 96da3a026afec..9265b11fb7611 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
@@ -9,11 +9,11 @@
   <arg name="use_detection_by_tracker"/>
 
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="use_pointcloud_map"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="use_pointcloud_map"/>
 
-  <arg name="objects_filter_method" default="lanelet_filter"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="objects_filter_method" default="lanelet_filter"/>
   <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
 
   <!-- external interfaces -->
@@ -108,7 +108,7 @@
   </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/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 96712c0a0c157..4fe33b71141e6 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
@@ -12,11 +12,11 @@
   <arg name="use_near_radar_fusion" default="false"/>
 
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="use_pointcloud_map"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="use_pointcloud_map"/>
 
-  <arg name="objects_filter_method" default="lanelet_filter"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="objects_filter_method" default="lanelet_filter"/>
   <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
 
   <!-- external interfaces -->
@@ -131,7 +131,7 @@
   </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/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 b0e17d1fdea85..1b2c6bba3fae8 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
@@ -9,11 +9,11 @@
   <arg name="use_detection_by_tracker"/>
 
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="use_pointcloud_map"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="use_pointcloud_map"/>
 
-  <arg name="objects_filter_method" default="lanelet_filter"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="objects_filter_method" default="lanelet_filter"/>
   <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
 
   <!-- external interfaces -->
@@ -46,7 +46,7 @@
   <let name="filter/output/objects" value="$(var output/objects)"/>
 
   <!-- 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)"/>

From 2324cc88f11ede0c4db1f63e59d5b28aee8dccfc Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Mon, 17 Jun 2024 18:32:54 +0900
Subject: [PATCH 13/19] fix: remove default from validators and filters

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../object_recognition/detection/detection.launch.xml    | 9 +++++++--
 .../detection/detector/camera_lidar_detector.launch.xml  | 2 +-
 .../detection/detector/lidar_rule_detector.launch.xml    | 1 +
 .../detection/merger/camera_lidar_merger.launch.xml      | 8 ++++----
 .../merger/camera_lidar_radar_merger.launch.xml          | 8 ++++----
 .../detection/merger/lidar_merger.launch.xml             | 8 ++++----
 .../tier4_perception_launch/launch/perception.launch.xml | 7 +++++--
 7 files changed, 26 insertions(+), 17 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
index fd8692ab5fd27..063af2a300e6c 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
@@ -4,10 +4,11 @@
   <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_object_filter" description="use object filter"/>
+  <arg name="objects_filter_method" description="options: `lanelet_filter` or `position_filter`"/>
   <arg name="use_pointcloud_map" description="use pointcloud map filter"/>
   <arg name="use_detection_by_tracker"/>
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="objects_validation_method"/>
+  <arg name="use_validator" description="use obstacle_pointcloud based validator"/>
+  <arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
 
   <!-- Lidar interfaces -->
   <arg name="input/pointcloud"/>
@@ -142,6 +143,7 @@
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
       <arg name="use_validator" value="$(var use_validator)"/>
       <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
       <arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
@@ -227,6 +229,7 @@
       <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
       <arg name="use_validator" value="$(var use_validator)"/>
       <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
@@ -278,6 +281,7 @@
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
       <arg name="use_validator" value="$(var use_validator)"/>
       <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
     </include>
@@ -319,6 +323,7 @@
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
       <arg name="use_validator" value="$(var use_validator)"/>
       <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index faad3c16b6abe..558cace82a14f 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -4,7 +4,7 @@
   <arg name="input/pointcloud"/>
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name"/>
 
   <!-- Lidar + Camera detector parameters -->
   <arg name="lidar_detection_model" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
index f55ff1ba06b8e..9a544cf256e4a 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -4,6 +4,7 @@
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
   <arg name="pointcloud_container_name"/>
+  <arg name="use_pointcloud_map"/>
 
   <!-- Pointcloud filter -->
   <group>
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 9265b11fb7611..85b404ba89b1f 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
@@ -8,12 +8,12 @@
   <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="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="use_validator"/>
+  <arg name="objects_validation_method"/>
   <arg name="use_pointcloud_map"/>
 
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="objects_filter_method" default="lanelet_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 -->
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 4fe33b71141e6..8d2ca2401b8f1 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
@@ -11,12 +11,12 @@
   <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="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="use_validator"/>
+  <arg name="objects_validation_method"/>
   <arg name="use_pointcloud_map"/>
 
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="objects_filter_method" default="lanelet_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 -->
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 1b2c6bba3fae8..c82de41a28b50 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
@@ -8,12 +8,12 @@
   <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="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="use_validator" description="use obstacle_pointcloud based validator"/>
+  <arg name="objects_validation_method"/>
   <arg name="use_pointcloud_map"/>
 
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="objects_filter_method" default="lanelet_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 -->
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index cf5523c64e9b5..111418be202da 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -77,6 +77,7 @@
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
   <arg name="use_roi_based_cluster" default="true" description="use roi_based_cluster in clustering"/>
   <arg name="use_low_intensity_cluster_filter" default="true" description="use low_intensity_cluster_filter in clustering"/>
   <arg
@@ -85,7 +86,7 @@
     description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
   />
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
+  <arg name="use_object_validator" default="true" description="use obstacle_pointcloud based object validator"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
   <arg name="use_perception_online_evaluator" default="false" description="use perception online evaluator"/>
 
@@ -229,11 +230,13 @@
           <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
 
           <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
-          <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
+          <arg name="use_validator" value="$(var use_object_validator)"/>          
+          <arg name="objects_validation_method" value="$(var objects_validation_method)"/>          
           <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
           <arg name="use_pointcloud_map" value="$(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)"/>
+          <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
         </include>
       </group>

From d42c0c5c6eb591de116473175666a5d3c5d4f541 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Mon, 17 Jun 2024 18:51:16 +0900
Subject: [PATCH 14/19] fix: pointcloud container node name

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml                 | 14 +++++++++-----
 .../detector/camera_lidar_detector.launch.xml      |  6 +++---
 .../detector/lidar_dnn_detector.launch.xml         |  5 +++--
 .../detector/lidar_rule_detector.launch.xml        |  6 +++---
 .../launch/perception.launch.xml                   |  2 +-
 5 files changed, 19 insertions(+), 14 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
index 063af2a300e6c..ce21df1db330c 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
@@ -14,7 +14,7 @@
   <arg name="input/pointcloud"/>
   <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="pointcloud_container_name"/>
+  <arg name="node/pointcloud_container"/>
 
   <!-- Camera interfaces -->
   <arg name="number_of_cameras"/>
@@ -78,7 +78,7 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
@@ -88,6 +88,7 @@
     <!-- Lidar dnn-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
     <!-- Radar detector/filter-->
@@ -181,7 +182,7 @@
       <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
@@ -191,6 +192,7 @@
     <!-- Lidar dnn-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
     <!-- DetectionByTracker -->
@@ -256,11 +258,12 @@
     <!-- Lidar dnn-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
     <!-- Lidar rule-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
@@ -298,11 +301,12 @@
     <!-- Lidar dnn-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
     <!-- Lidar rule-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 558cace82a14f..8dd8af85c2f15 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -4,7 +4,7 @@
   <arg name="input/pointcloud"/>
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
-  <arg name="pointcloud_container_name"/>
+  <arg name="node/pointcloud_container"/>
 
   <!-- Lidar + Camera detector parameters -->
   <arg name="lidar_detection_model" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
@@ -89,7 +89,7 @@
       <arg name="ml_package_param_path" value="$(var model_path)/pointpainting_ml_package.param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var 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>
 
@@ -100,7 +100,7 @@
       <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>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index 274b39be681b8..ab34cc49dd2f6 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
+++ b/launch/tier4_perception_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/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
index 9a544cf256e4a..819a6337138a1 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -3,7 +3,7 @@
   <!-- Lidar parameters -->
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
-  <arg name="pointcloud_container_name"/>
+  <arg name="node/pointcloud_container"/>
   <arg name="use_pointcloud_map"/>
 
   <!-- Pointcloud filter -->
@@ -13,7 +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="$(var use_pointcloud_map)"/>
     </include>
   </group>
@@ -28,7 +28,7 @@
         <arg name="use_low_height_cropbox" value="$(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/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 111418be202da..de1d058f72bd2 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -215,7 +215,7 @@
           <arg name="input/camera7/info" value="$(var camera_info7)"/>
           <arg name="input/camera7/rois" value="$(var detection_rois7)"/>
           <arg name="input/pointcloud" value="$(var perception_pointcloud)"/>
-          <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+          <arg name="node/pointcloud_container" value="$(var pointcloud_container_name)"/>
           <arg name="input/radar" value="$(var input/radar)"/>
           <arg name="sync_param_path" value="$(var object_recognition_detection_fusion_sync_param_path)"/>
           <arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>

From 32d4e043a2c288a241fc3ce3c227ac50e6575ac4 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 17 Jun 2024 09:35:01 +0000
Subject: [PATCH 15/19] style(pre-commit): autofix

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 launch/tier4_perception_launch/launch/perception.launch.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index de1d058f72bd2..4564730e7e52f 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -230,8 +230,8 @@
           <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
 
           <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
-          <arg name="use_validator" value="$(var use_object_validator)"/>          
-          <arg name="objects_validation_method" value="$(var objects_validation_method)"/>          
+          <arg name="use_validator" value="$(var use_object_validator)"/>
+          <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
           <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>

From d56cff8af0d8a2bb9e264a033d8c1e1504cbf32f Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Mon, 17 Jun 2024 19:06:23 +0900
Subject: [PATCH 16/19] Add use_low_intensity_cluster_filter argument to launch
 files

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../launch/object_recognition/detection/detection.launch.xml  | 3 +++
 .../detection/detector/camera_lidar_detector.launch.xml       | 4 ++--
 launch/tier4_perception_launch/launch/perception.launch.xml   | 1 +
 3 files changed, 6 insertions(+), 2 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
index ce21df1db330c..955b5c8b659ad 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
@@ -9,6 +9,7 @@
   <arg name="use_detection_by_tracker"/>
   <arg name="use_validator" description="use obstacle_pointcloud based validator"/>
   <arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
+  <arg name="use_low_intensity_cluster_filter"/>
 
   <!-- Lidar interfaces -->
   <arg name="input/pointcloud"/>
@@ -84,6 +85,7 @@
       <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="$(var detection_by_tracker_param_path)"/>
+      <arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
     </include>
     <!-- Lidar dnn-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
@@ -188,6 +190,7 @@
       <arg name="use_low_height_cropbox" value="$(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)"/>
+      <arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
     </include>
     <!-- Lidar dnn-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 8dd8af85c2f15..3c8480038f320 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -8,8 +8,8 @@
 
   <!-- Lidar + Camera detector parameters -->
   <arg name="lidar_detection_model" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="use_roi_based_cluster" default="false"/>
-  <arg name="use_low_intensity_cluster_filter" default="false"/>
+  <arg name="use_roi_based_cluster"/>
+  <arg name="use_low_intensity_cluster_filter"/>
 
   <!-- Camera parameters -->
   <arg name="number_of_cameras"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 4564730e7e52f..8f0513bcd5446 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -235,6 +235,7 @@
           <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+          <arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
           <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>

From c95d20a68f2377a44514d45b19d822a431ddcce9 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Mon, 17 Jun 2024 19:57:13 +0900
Subject: [PATCH 17/19] fix: on off detector and merger

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml            | 244 +++++++-----------
 1 file changed, 97 insertions(+), 147 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
index 955b5c8b659ad..228b4c89f95d3 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
@@ -47,8 +47,49 @@
   <!-- Radar interfaces -->
   <arg name="input/radar"/>
 
-  <!-- Camera-Lidar-Radar fusion based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
+  <!-- Module switching -->
+  <arg name="switch/detector/camera_lidar" default="false"/>
+  <arg name="switch/detector/lidar_dnn" default="false"/>
+  <arg name="switch/detector/lidar_rule" default="false"/>
+  <arg name="switch/detector/radar" default="false"/>
+  <arg name="switch/detector/radar_only" default="false"/>
+  <arg name="switch/detector/tracker_based" default="false"/>
+  <let name="switch/detector/tracker_based" value="true" if="$(var use_detection_by_tracker)"/>
+
+  <arg name="switch/merger/camera_lidar_radar" default="false"/>
+  <arg name="switch/merger/camera_lidar" default="false"/>
+  <arg name="switch/merger/lidar_radar" default="false"/>
+  <arg name="switch/merger/lidar" default="false"/>
+
+  <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
+    <let name="switch/detector/camera_lidar" value="true"/>
+    <let name="switch/detector/lidar_dnn" value="true"/>
+    <let name="switch/detector/radar" value="true"/>
+    <let name="switch/merger/camera_lidar_radar" value="true"/>
+  </group>
+  <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
+    <let name="switch/detector/camera_lidar" value="true"/>
+    <let name="switch/detector/lidar_dnn" value="true"/>
+    <let name="switch/merger/camera_lidar" value="true"/>
+  </group>
+  <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
+    <let name="switch/detector/lidar_dnn" value="true"/>
+    <let name="switch/detector/lidar_rule" value="true"/>
+    <let name="switch/detector/radar" value="true"/>
+    <let name="switch/merger/lidar_radar" value="true"/>
+  </group>
+  <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
+    <let name="switch/detector/lidar_dnn" value="true"/>
+    <let name="switch/detector/lidar_rule" value="true"/>
+    <let name="switch/merger/lidar" value="true"/>
+  </group>
+  <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
+    <let name="switch/detector/radar_only" value="true"/>
+    <let name="switch/detector/tracker_based" value="false"/>
+  </group>
+
+  <!-- Detector -->
+  <group if="$(var switch/detector/camera_lidar)">
     <!-- Camera-Lidar detectors -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
       <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
@@ -87,32 +128,60 @@
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
       <arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
     </include>
+  </group>
+  <group if="$(var switch/detector/lidar_dnn)">
     <!-- Lidar dnn-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
-    <!-- Radar detector/filter-->
-    <group>
-      <push-ros-namespace namespace="radar"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
-        <arg name="input/radar" value="$(var input/radar)"/>
-        <arg name="output/objects" value="far_objects"/>
-        <arg name="radar_lanelet_filtering_range_param_path" value="$(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)"/>
-        <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
-        <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
-      </include>
-    </group>
-    <!-- DetectionByTracker -->
-    <group if="$(var use_detection_by_tracker)">
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
-        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-      </include>
-    </group>
-    <!-- Object merger -->
+  </group>
+  <group if="$(var switch/detector/lidar_rule)">
+    <!-- Lidar rule-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+    </include>
+  </group>
+  <group if="$(var switch/detector/radar)">
+    <!-- Radar detector/filter, in case of sensor fusion-->
+    <push-ros-namespace namespace="radar"/>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
+      <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="output/objects" value="far_objects"/>
+      <arg name="radar_lanelet_filtering_range_param_path" value="$(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)"/>
+      <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
+      <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
+    </include>
+  </group>
+  <group if="$(var switch/detector/radar_only)">
+    <!-- Radar detector/filter, in case of radar only -->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
+      <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="output/objects" value="objects"/>
+      <arg name="radar_lanelet_filtering_range_param_path" value="$(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_param_path)"/>
+      <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
+      <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
+    </include>
+  </group>
+  <!-- DetectionByTracker -->
+  <group if="$(var switch/detector/tracker_based)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+    </include>
+  </group>
+
+  <!-- Merger -->
+  <group if="$(var switch/merger/camera_lidar_radar)">
+    <!-- Camera-Lidar-Radar merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
       <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
@@ -153,58 +222,8 @@
     </include>
   </group>
 
-  <!-- Camera-Lidar fusion based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
-    <!-- Camera-Lidar detectors -->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
-      <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
-      <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
-      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
-      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
-      <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
-      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
-      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
-      <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
-      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
-      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
-      <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
-      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
-      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
-      <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
-      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
-      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
-      <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
-      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
-      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
-      <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
-      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
-      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
-      <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
-      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
-      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <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_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
-      <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
-      <arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
-    </include>
-    <!-- Lidar dnn-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-    </include>
-    <!-- DetectionByTracker -->
-    <group if="$(var use_detection_by_tracker)">
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
-        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-      </include>
-    </group>
-    <!-- Object merger -->
+  <group if="$(var switch/merger/camera_lidar)">
+    <!-- Camera-Lidar merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
       <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
@@ -243,42 +262,8 @@
     </include>
   </group>
 
-  <!-- Lidar-Radar fusion based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
-    <!-- Radar detector/filter-->
-    <group>
-      <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="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="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
-        <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
-        <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
-      </include>
-    </group>
-    <!-- Lidar dnn-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-    </include>
-    <!-- Lidar rule-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
-      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
-      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-    </include>
-    <!-- DetectionByTracker -->
-    <group if="$(var use_detection_by_tracker)">
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
-        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-      </include>
-    </group>
-    <!-- Lidar object merger -->
+  <group if="$(var switch/merger/lidar_radar)">
+    <!-- Lidar object merger-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
       <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
@@ -299,29 +284,8 @@
     </include>
   </group>
 
-  <!-- Lidar based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
-    <!-- Lidar dnn-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-    </include>
-    <!-- Lidar rule-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
-      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
-      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-    </include>
-    <!-- DetectionByTracker -->
-    <group if="$(var use_detection_by_tracker)">
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
-        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-      </include>
-    </group>
-    <!-- Lidar object merger -->
+  <group if="$(var switch/merger/lidar)">
+    <!-- Lidar object merger-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
       <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
@@ -335,18 +299,4 @@
       <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
     </include>
   </group>
-
-  <!-- Radar based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
-    <!-- Radar detector/filter-->
-    <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="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="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
-      <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
-      <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
-    </include>
-  </group>
 </launch>

From c5042a728c521d03752707db0f0671c3b3b237b5 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 19 Jun 2024 15:51:04 +0900
Subject: [PATCH 18/19] fix: radar_far/objects default

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/merger/camera_lidar_radar_merger.launch.xml       | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 8d2ca2401b8f1..16ec8f8fbd573 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
@@ -50,7 +50,7 @@
   <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"/>
 

From 64ad0a007fcd32e9455a1989b8219181fb4fbfab Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 19 Jun 2024 17:15:47 +0900
Subject: [PATCH 19/19] fix: radar object filter parameter

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/filter/radar_filter.launch.xml                  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
index 136871f347759..fe7ab70e9331e 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
+++ b/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">