From 3cf58d2e75f01fc5a5dd18b7391c426922909c13 Mon Sep 17 00:00:00 2001
From: Tomohito ANDO <tomohito.ando@tier4.jp>
Date: Tue, 1 Aug 2023 22:59:34 +0900
Subject: [PATCH] refactor(traffic_light_arbiter): add traffic_light_arbiter
 param file (#489)

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
---
 .../traffic_light_arbiter/traffic_light_arbiter.param.yaml   | 5 +++++
 .../launch/components/tier4_perception_component.launch.xml  | 3 +++
 2 files changed, 8 insertions(+)
 create mode 100644 autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml

diff --git a/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml
new file mode 100644
index 0000000000..5dc2b62eaa
--- /dev/null
+++ b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    external_time_tolerance: 5.0
+    perception_time_tolerance: 1.0
+    external_priority: false
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 1707815707..0dbbee6065 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -82,5 +82,8 @@
     <!-- occupancy grid map -->
     <arg name="occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml"/>
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
+
+    <!-- traffic light recognition -->
+    <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
   </include>
 </launch>