From 0556a825f43d6e683cd7af500526bb8a3abc28bb Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 26 Jun 2024 11:24:45 +0900
Subject: [PATCH] feat(tier4_perception_launch): enable multi channel tracker
 merger (#7459)

* feat: introduce multi channel tracker merger

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: add missing config

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: radar only mode for both fusion mode

fix

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

style(pre-commit): autofix

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: implement merger switching

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: move pointcloud filter from detection to filter group

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: define external and internal interfaces

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: set output of camera-lidar in absolute path

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: explicit object detection output

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: update object detection input paths

fix radar output

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: update object detection input paths

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: radar pipeline output

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: update object detection input paths

This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: group to avoid argument mixture

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
---
 .../detection/detection.launch.xml            | 162 +++++++++++++-----
 .../detector/camera_lidar_detector.launch.xml |  32 ++--
 .../detector/lidar_dnn_detector.launch.xml    |  15 +-
 .../detector/lidar_rule_detector.launch.xml   |  20 +--
 .../tracker_based_detector.launch.xml         |   2 +
 .../merger/camera_lidar_merger.launch.xml     |   6 +-
 .../camera_lidar_radar_merger.launch.xml      |  12 +-
 .../tracking/tracking.launch.xml              | 119 ++++++++-----
 .../launch/perception.launch.xml              |   6 +
 9 files changed, 241 insertions(+), 133 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 228b4c89f95d3..373e343ad64fa 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
@@ -1,5 +1,8 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Current namespace -->
+  <let name="ns" value="/perception/object_recognition/detection"/>
+
   <!-- 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`"/>
@@ -10,15 +13,13 @@
   <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"/>
+  <arg name="use_multi_channel_tracker_merger"/>
 
-  <!-- Lidar interfaces -->
+  <!-- External interfaces -->
+  <arg name="number_of_cameras"/>
+  <arg name="node/pointcloud_container"/>
   <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="node/pointcloud_container"/>
-
-  <!-- Camera interfaces -->
-  <arg name="number_of_cameras"/>
   <arg name="input/camera0/image"/>
   <arg name="input/camera0/info"/>
   <arg name="input/camera0/rois"/>
@@ -43,10 +44,21 @@
   <arg name="input/camera7/image"/>
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
-
-  <!-- Radar interfaces -->
   <arg name="input/radar"/>
 
+  <arg name="output/objects" default="objects"/>
+
+  <!-- internal interfaces -->
+  <arg name="pointcloud_filter/output/pointcloud" default="$(var ns)/pointcloud_map_filtered/pointcloud"/>
+  <arg name="lidar_ml_detector/output/objects" default="$(var ns)/$(var lidar_detection_model)/objects"/>
+  <arg name="lidar_rule_detector/output/objects" default="$(var ns)/clustering/objects"/>
+  <arg name="camera_lidar_rule_detector/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/objects"/>
+  <arg name="tracker_based_detector/output/objects" default="$(var ns)/detection_by_tracker/objects"/>
+  <arg name="lidar_object_filter/output/objects" default="$(var ns)/$(var lidar_detection_model)/validation/objects"/>
+  <arg name="camera_lidar_object_filter/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/filtered/objects"/>
+  <arg name="radar_pipeline/output/objects" default="$(var ns)/radar/far_objects"/>
+  <arg name="radar_object_filter/output/objects" default="$(var ns)/radar/far_objects"/>
+
   <!-- Module switching -->
   <arg name="switch/detector/camera_lidar" default="false"/>
   <arg name="switch/detector/lidar_dnn" default="false"/>
@@ -56,35 +68,58 @@
   <arg name="switch/detector/tracker_based" default="false"/>
   <let name="switch/detector/tracker_based" value="true" if="$(var use_detection_by_tracker)"/>
 
+  <arg name="switch/filter/pointcloud" default="false"/>
+  <arg name="switch/filter/camera_lidar_object" default="false"/>
+  <arg name="switch/filter/lidar_object" default="false"/>
+
   <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/filter/pointcloud" value="true"/>
     <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"/>
+    <let name="switch/merger/camera_lidar_radar" value="true" unless="$(var use_multi_channel_tracker_merger)"/>
+    <group scoped="false" if="$(var use_multi_channel_tracker_merger)">
+      <let name="switch/filter/camera_lidar_object" value="true"/>
+      <let name="switch/filter/lidar_object" value="true"/>
+      <let name="camera_lidar_rule_detector/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/unfiltered/objects"/>
+      <let name="camera_lidar_object_filter/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects"/>
+    </group>
   </group>
   <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
+    <let name="switch/filter/pointcloud" value="true"/>
     <let name="switch/detector/camera_lidar" value="true"/>
     <let name="switch/detector/lidar_dnn" value="true"/>
-    <let name="switch/merger/camera_lidar" value="true"/>
+    <let name="switch/merger/camera_lidar" value="true" unless="$(var use_multi_channel_tracker_merger)"/>
+    <group scoped="false" if="$(var use_multi_channel_tracker_merger)">
+      <let name="switch/filter/camera_lidar_object" value="true"/>
+      <let name="switch/filter/lidar_object" value="true"/>
+      <let name="camera_lidar_rule_detector/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/unfiltered/objects"/>
+      <let name="camera_lidar_object_filter/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects"/>
+    </group>
   </group>
   <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
+    <let name="switch/filter/pointcloud" value="true"/>
     <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"/>
+    <let name="switch/filter/lidar_object" value="true" if="$(var use_multi_channel_tracker_merger)"/>
+    <let name="switch/merger/lidar_radar" value="true" unless="$(var use_multi_channel_tracker_merger)"/>
   </group>
   <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
+    <let name="switch/filter/pointcloud" value="true"/>
     <let name="switch/detector/lidar_dnn" value="true"/>
     <let name="switch/detector/lidar_rule" value="true"/>
-    <let name="switch/merger/lidar" value="true"/>
+    <let name="switch/filter/lidar_object" value="true" if="$(var use_multi_channel_tracker_merger)"/>
+    <let name="switch/merger/lidar" value="true" unless="$(var use_multi_channel_tracker_merger)"/>
   </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/radar" value="true" if="$(var use_multi_channel_tracker_merger)"/>
+    <let name="switch/detector/radar_only" value="true" unless="$(var use_multi_channel_tracker_merger)"/>
     <let name="switch/detector/tracker_based" value="false"/>
   </group>
 
@@ -118,11 +153,12 @@
       <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/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="output/ml_detector/objects" value="$(var lidar_ml_detector/output/objects)"/>
+      <arg name="output/rule_detector/objects" value="$(var camera_lidar_rule_detector/output/objects)"/>
       <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)"/>
@@ -133,6 +169,7 @@
     <!-- 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="output/objects" value="$(var lidar_ml_detector/output/objects)"/>
       <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
@@ -141,9 +178,9 @@
     <!-- Lidar rule-based detectors-->
     <include file="$(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/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="output/objects" value="$(var lidar_rule_detector/output/objects)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     </include>
   </group>
@@ -152,7 +189,7 @@
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="output/objects" value="far_objects"/>
+      <arg name="output/objects" value="$(var radar_pipeline/output/objects)"/>
       <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
       <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
       <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
@@ -175,10 +212,38 @@
   <!-- DetectionByTracker -->
   <group if="$(var switch/detector/tracker_based)">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+      <arg name="output/objects" value="$(var tracker_based_detector/output/objects)"/>
       <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
     </include>
   </group>
 
+  <!-- Filter -->
+  <group if="$(var switch/filter/pointcloud)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
+      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="output_topic" value="$(var pointcloud_filter/output/pointcloud)"/>
+      <arg name="use_intra_process" value="true"/>
+      <arg name="use_multithread" value="true"/>
+      <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+    </include>
+  </group>
+  <group if="$(var switch/filter/lidar_object)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
+      <arg name="input/obstacle_pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
+      <arg name="input/objects" value="$(var lidar_ml_detector/output/objects)"/>
+      <arg name="output/objects" value="$(var lidar_object_filter/output/objects)"/>
+      <arg name="objects_validation_method" value="obstacle_pointcloud"/>
+    </include>
+  </group>
+  <group if="$(var switch/filter/camera_lidar_object)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_filter.launch.xml" if="$(var use_object_filter)">
+      <arg name="objects_filter_method" value="lanelet_filter"/>
+      <arg name="input/objects" value="$(var camera_lidar_rule_detector/output/objects)"/>
+      <arg name="output/objects" value="$(var camera_lidar_object_filter/output/objects)"/>
+    </include>
+  </group>
+
   <!-- Merger -->
   <group if="$(var switch/merger/camera_lidar_radar)">
     <!-- Camera-Lidar-Radar merger -->
@@ -208,8 +273,14 @@
       <arg name="input/camera7/image" value="$(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="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="input/lidar_ml/objects" value="$(var lidar_ml_detector/output/objects)"/>
+      <arg name="input/lidar_rule/objects" value="$(var camera_lidar_rule_detector/output/objects)"/>
+      <arg name="input/detection_by_tracker/objects" value="$(var tracker_based_detector/output/objects)"/>
+      <arg name="input/radar/objects" value="radar/noise_filtered_objects"/>
+      <arg name="input/radar_far/objects" value="$(var radar_pipeline/output/objects)"/>
+      <arg name="output/objects" value="$(var output/objects)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
@@ -250,8 +321,12 @@
       <arg name="input/camera7/image" value="$(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="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="input/lidar_ml/objects" value="$(var lidar_ml_detector/output/objects)"/>
+      <arg name="input/lidar_rule/objects" value="$(var camera_lidar_rule_detector/output/objects)"/>
+      <arg name="input/detection_by_tracker/objects" value="$(var tracker_based_detector/output/objects)"/>
+      <arg name="output/objects" value="$(var output/objects)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
       <arg name="use_validator" value="$(var use_validator)"/>
@@ -264,32 +339,41 @@
 
   <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)"/>
-      <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)"/>
-      <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="$(var objects_validation_method)"/>
-    </include>
+    <group>
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
+        <arg name="input/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
+        <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+        <arg name="input/lidar_ml/objects" value="$(var lidar_ml_detector/output/objects)"/>
+        <arg name="input/lidar_rule/objects" value="$(var lidar_rule_detector/output/objects)"/>
+        <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)"/>
+        <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="$(var objects_validation_method)"/>
+      </include>
+    </group>
     <!-- Lidar-Radar object merger-->
-    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-      <arg name="input/objects" value="lidar/objects"/>
-      <arg name="input/radars" value="radar/noise_filtered_objects"/>
-      <arg name="output/objects" value="objects"/>
-    </include>
+    <group>
+      <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
+        <arg name="input/objects" value="lidar/objects"/>
+        <arg name="input/radars" value="radar/noise_filtered_objects"/>
+        <arg name="output/objects" value="$(var output/objects)"/>
+      </include>
+    </group>
   </group>
 
   <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="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="output/objects" value="objects"/>
+      <arg name="input/lidar_ml/objects " value="$(var lidar_ml_detector/output/objects)"/>
+      <arg name="input/lidar_rule/objects" value="$(var lidar_rule_detector/output/objects)"/>
+      <arg name="input/detection_by_tracker/objects" value="$(var tracker_based_detector/output/objects)"/>
+      <arg name="output/objects" value="$(var output/objects)"/>
       <arg name="lidar_detection_model" value="$(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 3c8480038f320..4c288aa632182 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
@@ -1,17 +1,11 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Lidar parameters -->
-  <arg name="input/pointcloud"/>
-  <arg name="input/pointcloud_map/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud"/>
-  <arg name="node/pointcloud_container"/>
-
   <!-- Lidar + Camera detector parameters -->
   <arg name="lidar_detection_model" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_roi_based_cluster"/>
   <arg name="use_low_intensity_cluster_filter"/>
 
-  <!-- Camera parameters -->
+  <!-- External interfaces -->
   <arg name="number_of_cameras"/>
   <arg name="input/camera0/image"/>
   <arg name="input/camera0/info"/>
@@ -38,6 +32,14 @@
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
 
+  <arg name="node/pointcloud_container"/>
+  <arg name="input/pointcloud"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
+
+  <arg name="output/ml_detector/objects"/>
+  <arg name="output/rule_detector/objects"/>
+
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
     <arg name="image_raw0" value="$(var input/camera0/image)"/>
@@ -81,7 +83,7 @@
       <arg name="input/image6" value="$(var input/camera6/image)"/>
       <arg name="input/image7" value="$(var input/camera7/image)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="objects"/>
+      <arg name="output/objects" value="$(var output/ml_detector/objects)"/>
 
       <arg name="model_name" value="$(var lidar_detection_model)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
@@ -93,18 +95,6 @@
     </include>
   </group>
 
-  <!-- Pointcloud filter -->
-  <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
-      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <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="$(var node/pointcloud_container)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    </include>
-  </group>
-
   <!-- Clustering -->
   <group>
     <push-ros-namespace namespace="clustering"/>
@@ -230,7 +220,7 @@
       <group>
         <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
           <arg name="input" value="objects_with_feature"/>
-          <arg name="output" value="objects"/>
+          <arg name="output" value="$(var output/rule_detector/objects)"/>
         </include>
       </group>
     </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 ab34cc49dd2f6..98e8ec7c8ed4b 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
@@ -1,18 +1,19 @@
 <?xml version="1.0"?>
 <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 -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint`, `centerpoint_tiny` or `centerpoint_sigma`"/>
   <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
-
   <!-- Lidar detector transfusion parameters -->
   <arg name="transfusion_model_name" default="transfusion" description="options: `transfusion`"/>
   <arg name="transfusion_model_path" default="$(var data_path)/lidar_transfusion"/>
 
+  <!-- External interfaces -->
+  <arg name="node/pointcloud_container"/>
+  <arg name="input/pointcloud"/>
+  <arg name="output/objects"/>
+
   <!-- TransFusion -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='transfusion'&quot;)">
     <push-ros-namespace namespace="transfusion"/>
@@ -21,7 +22,7 @@
     <group>
       <include file="$(find-pkg-share lidar_transfusion)/launch/lidar_transfusion.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="objects"/>
+        <arg name="output/objects" value="$(var output/objects)"/>
         <arg name="model_name" value="$(var transfusion_model_name)"/>
         <arg name="model_path" value="$(var transfusion_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var transfusion_model_name).param.yaml"/>
@@ -41,7 +42,7 @@
     <group>
       <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="objects"/>
+        <arg name="output/objects" value="$(var output/objects)"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
@@ -77,7 +78,7 @@
     <group>
       <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
         <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
+        <arg name="output" value="$(var output/objects)"/>
       </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 819a6337138a1..38ee946201f7e 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
@@ -1,22 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Lidar parameters -->
+  <!-- External interfaces -->
+  <arg name="node/pointcloud_container"/>
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
-  <arg name="node/pointcloud_container"/>
-  <arg name="use_pointcloud_map"/>
-
-  <!-- Pointcloud filter -->
-  <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
-      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <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="$(var node/pointcloud_container)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    </include>
-  </group>
+  <arg name="output/objects"/>
 
   <!-- Clustering -->
   <group>
@@ -43,7 +31,7 @@
     <group>
       <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
         <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
+        <arg name="output" value="$(var output/objects)"/>
       </include>
     </group>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
index 0efe7444fcba5..b85d4b02847b3 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
@@ -1,10 +1,12 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="output/objects"/>
   <!-- DetectionByTracker -->
   <group>
     <push-ros-namespace namespace="detection_by_tracker"/>
     <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
       <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      <arg name="output" value="$(var output/objects)"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
index 85b404ba89b1f..d4a9e40f29d97 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -44,9 +44,9 @@
   <arg name="input/camera7/rois"/>
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
-  <arg name="input/lidar_ml/objects" default="$(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"/>
+  <arg name="input/lidar_ml/objects"/>
+  <arg name="input/lidar_rule/objects"/>
+  <arg name="input/detection_by_tracker/objects"/>
   <arg name="output/objects" default="objects"/>
 
   <!-- internal 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 16ec8f8fbd573..6ea745a8bae2c 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
@@ -47,16 +47,16 @@
   <arg name="input/camera7/rois"/>
   <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"/>
-  <arg name="input/radar_far/objects" default="radar/far_objects"/>
-  <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
+  <arg name="input/lidar_ml/objects"/>
+  <arg name="input/lidar_rule/objects"/>
+  <arg name="input/radar/objects"/>
+  <arg name="input/radar_far/objects"/>
+  <arg name="input/detection_by_tracker/objects"/>
   <arg name="output/objects" default="objects"/>
 
   <!-- internal interfaces -->
   <let name="radar_objects_fusion/input/objects" value="$(var input/lidar_ml/objects)"/>
-  <let name="radar_objects_fusion/input/radars" value="$(var input/radar_near/objects)"/>
+  <let name="radar_objects_fusion/input/radars" value="$(var input/radar/objects)"/>
   <let name="radar_objects_fusion/output/objects" value="radar_fusion/objects"/>
 
   <let name="camera_roi_fusion/input/objects" value="$(var radar_objects_fusion/output/objects)" if="$(var use_near_radar_fusion)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
index b8172daa616fa..9bc4aabc39b20 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -1,5 +1,8 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Current namespace -->
+  <let name="ns" value="/perception/object_recognition/tracking"/>
+
   <!-- Radar Tracking and Merger parameters -->
   <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path" description="association param file for radar far object tracking"/>
   <arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" description="tracking setting param file for radar far object tracking"/>
@@ -13,50 +16,84 @@
   <let name="use_radar_tracking_fusion" value="false" if="$(eval '&quot;$(var mode)&quot;!=&quot;camera_lidar_radar_fusion&quot;')"/>
 
   <!-- External interface -->
-  <arg name="input/detection_input_channels" default="['detected_objects']"/>
-  <!-- detection_input_channels: Input channels for multi object tracker, reference: multi_object_tracker/config/input_channels.param.yaml -->
+  <let name="input/detection_input_channels" value="['detected_objects']"/>
   <arg name="input/radar/objects" default="/perception/object_recognition/detection/radar/far_objects"/>
-  <arg name="output/objects" default="/perception/object_recognition/tracking/objects"/>
-
-  <!-- Internal interface -->
-  <let name="radar_tracker/input/objects" value="$(var input/radar/objects)"/>
-  <let name="radar_tracker/output/objects" value="/perception/object_recognition/tracking/radar/far_objects"/>
-
-  <let name="multi_object_tracker/input/selected_input_channels" value="$(var input/detection_input_channels)"/>
-  <let name="multi_object_tracker/output/objects" value="$(var output/objects)" unless="$(var use_radar_tracking_fusion)"/>
-  <let name="multi_object_tracker/output/objects" value="/perception/object_recognition/tracking/near_objects" if="$(var use_radar_tracking_fusion)"/>
-
-  <let name="tracker_merger/input/main_objects" value="$(var multi_object_tracker/output/objects)"/>
-  <let name="tracker_merger/input/sub_objects" value="$(var radar_tracker/output/objects)"/>
-  <let name="tracker_merger/output/objects" value="$(var output/objects)"/>
-
-  <!--Multi object tracking-->
-  <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
-    <arg name="selected_input_channels" value="$(var multi_object_tracker/input/selected_input_channels)"/>
-    <arg name="output" value="$(var multi_object_tracker/output/objects)"/>
-    <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
-    <arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
-    <arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
-  </include>
-
-  <!-- Run with tracking merger to add far radar information -->
-  <group if="$(var use_radar_tracking_fusion)">
-    <!--radar long range dynamic object tracking-->
-    <include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
-      <arg name="input" value="$(var radar_tracker/input/objects)"/>
-      <arg name="output" value="$(var radar_tracker/output/objects)"/>
-      <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"/>
-      <arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
-      <arg name="radar_object_tracker_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
+  <arg name="output/objects" default="$(var ns)/objects"/>
+
+  <group unless="$(var use_multi_channel_tracker_merger)">
+    <!-- Internal interface -->
+    <let name="radar_tracker/input/objects" value="$(var input/radar/objects)"/>
+    <let name="radar_tracker/output/objects" value="$(var ns)/radar/far_objects"/>
+
+    <let name="multi_object_tracker/input/selected_input_channels" value="$(var input/detection_input_channels)"/>
+    <let name="multi_object_tracker/output/objects" value="$(var output/objects)" unless="$(var use_radar_tracking_fusion)"/>
+    <let name="multi_object_tracker/output/objects" value="$(var ns)/near_objects" if="$(var use_radar_tracking_fusion)"/>
+
+    <let name="tracker_merger/input/main_objects" value="$(var multi_object_tracker/output/objects)"/>
+    <let name="tracker_merger/input/sub_objects" value="$(var radar_tracker/output/objects)"/>
+    <let name="tracker_merger/output/objects" value="$(var output/objects)"/>
+
+    <!-- Multi object tracking -->
+    <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
+      <arg name="selected_input_channels" value="$(var multi_object_tracker/input/selected_input_channels)"/>
+      <arg name="output" value="$(var multi_object_tracker/output/objects)"/>
+      <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
+      <arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
+      <arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
     </include>
 
-    <!--tracking object merger to merge near objects and far objects -->
-    <include file="$(find-pkg-share tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
-      <arg name="input/main_object" value="$(var tracker_merger/input/main_objects)"/>
-      <arg name="input/sub_object" value="$(var tracker_merger/input/sub_objects)"/>
-      <arg name="output" value="$(var tracker_merger/output/objects)"/>
-      <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
-      <arg name="node_param_file_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
+    <!-- Run with tracking merger to add far radar information -->
+    <group if="$(var use_radar_tracking_fusion)">
+      <!-- radar long range dynamic object tracking -->
+      <include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
+        <arg name="input" value="$(var radar_tracker/input/objects)"/>
+        <arg name="output" value="$(var radar_tracker/output/objects)"/>
+        <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"/>
+        <arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
+        <arg name="radar_object_tracker_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
+      </include>
+
+      <!-- tracking object merger to merge near objects and far objects -->
+      <include file="$(find-pkg-share tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
+        <arg name="input/main_object" value="$(var tracker_merger/input/main_objects)"/>
+        <arg name="input/sub_object" value="$(var tracker_merger/input/sub_objects)"/>
+        <arg name="output" value="$(var tracker_merger/output/objects)"/>
+        <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
+        <arg name="node_param_file_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
+      </include>
+    </group>
+  </group>
+
+  <!-- Object list for multi-channel tracker merger -->
+  <group if="$(var use_multi_channel_tracker_merger)">
+    <let name="detection_enabled_channels" value="$(var input/detection_input_channels)"/>
+    <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','radar_far']" unless="$(var use_detection_by_tracker)"/>
+    </group>
+    <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion']" unless="$(var use_detection_by_tracker)"/>
+    </group>
+    <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','radar_far']" unless="$(var use_detection_by_tracker)"/>
+    </group>
+    <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated']" unless="$(var use_detection_by_tracker)"/>
+    </group>
+    <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
+      <let name="detection_enabled_channels" value="['radar_far']"/>
+    </group>
+
+    <!-- Multi object tracking -->
+    <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
+      <arg name="selected_input_channels" value="$(var detection_enabled_channels)"/>
+      <arg name="output" value="$(var output/objects)"/>
+      <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
+      <arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
+      <arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 8f0513bcd5446..5d8d7563e7a7c 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -124,6 +124,9 @@
   />
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
 
+  <!-- Object merger method: whether to enable multi-channel tracker merger -->
+  <arg name="use_multi_channel_tracker_merger" default="false" description="if it is true, replace the multi step merger to multi-channel tracker merger."/>
+
   <!-- Downsample pointcloud for perception usage -->
   <arg name="downsample_perception_common_pointcloud" default="false"/>
   <arg name="common_downsample_voxel_size_x" default="0.05"/>
@@ -189,6 +192,7 @@
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
           <arg name="mode" value="$(var mode)"/>
           <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+          <arg name="use_multi_channel_tracker_merger" value="$(var use_multi_channel_tracker_merger)"/>
           <arg name="number_of_cameras" value="$(var image_number)"/>
           <arg name="input/camera0/image" value="$(var image_raw0)"/>
           <arg name="input/camera0/info" value="$(var camera_info0)"/>
@@ -255,7 +259,9 @@
           <arg name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
           <arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
           <arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
+          <arg name="use_multi_channel_tracker_merger" value="$(var use_multi_channel_tracker_merger)"/>
           <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
+          <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
         </include>
       </group>