From 2b25e8126d8ef84e6eb04310b29ecf599a886b22 Mon Sep 17 00:00:00 2001
From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>
Date: Mon, 13 Nov 2023 20:16:50 +0900
Subject: [PATCH] fix(perception): add detection_by_tracker param file (#676)

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../detection_by_tracker.param.yaml                   | 11 +++++++++++
 .../components/tier4_perception_component.launch.xml  |  4 ++++
 2 files changed, 15 insertions(+)
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml

diff --git a/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml
new file mode 100644
index 0000000000..6957040506
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    tracker_ignore_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 5959d58e18..db79336fb5 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -64,6 +64,10 @@
       name="object_recognition_detection_object_merger_distance_threshold_list_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_detection_by_tracker_param"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml"
+    />
     <arg
       name="object_recognition_detection_radar_lanelet_filtering_range_param"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml"