From 6156b5567b2da887ff8dabab55e09ba6eea56e33 Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Wed, 26 Jul 2023 14:45:18 +0900
Subject: [PATCH] feat: set traffic light parameter properly for
 autoware.launch and e2e.launch (#569)

* feat: set traffic light parameter properly for autoware.launch and e2e.launch

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Co-authored-by: tkimura4 <tkimura4@users.noreply.github.com>
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 autoware_launch/launch/autoware.launch.xml                     | 3 ++-
 .../launch/components/tier4_perception_component.launch.xml    | 2 +-
 autoware_launch/launch/e2e_simulator.launch.xml                | 1 +
 3 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 87451f294c..0476fb834a 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -38,8 +38,9 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <!-- Perception -->
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
-  <arg name="use_traffic_light_recognition" default="false"/>
+  <arg name="use_traffic_light_recognition" default="true"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
+  <arg name="traffic_light_recognition/fusion_only" default="true" description="Whether to start only some of the signal recognition related nodes"/>
   <!-- Planning -->
   <arg name="use_experimental_lane_change_function" default="false"/>
   <!-- Others -->
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index ebf050ea02..9428851236 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -17,7 +17,7 @@
     <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share ml_model_provider)/config"/>
     <arg name="centerpoint_model_name" value="centerpoint_xx1"/>
     <arg name="centerpoint_model_path" value="$(find-pkg-share ml_model_provider)/data"/>
-    <arg name="traffic_light_recognition/fusion_only" value="true"/>
+    <arg name="traffic_light_recognition/fusion_only" value="$(var traffic_light_recognition/fusion_only)"/>
     <arg name="remove_unknown" value="false"/>
     <arg name="trust_distance" value="100.0"/>
 
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 00955460ea..5161ca155f 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -87,6 +87,7 @@
       <arg name="perception_mode" value="lidar"/>
       <arg name="use_traffic_light_recognition" value="true"/>
       <arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
+      <arg name="traffic_light_recognition/fusion_only" value="false"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>