From 8ea975ed6f6e3867f14713311ec76fefed13460c Mon Sep 17 00:00:00 2001
From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com>
Date: Thu, 19 Sep 2024 10:29:28 +0900
Subject: [PATCH 1/2] feat(tier4_perception_launch): enable to use multi camera
 on traffic light recognition (#1144)

change the way to declare camera num

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
---
 .../launch/components/tier4_perception_component.launch.xml     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 052b4a6429..883a5282c1 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -48,7 +48,7 @@
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
     <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="traffic_light_recognition/fusion_only" value="false"/>
-    <arg name="traffic_light_image_number" value="2"/>
+    <arg name="all_traffic_light_camera" value="[camera6, camera7]"/>
 
     <!-- object recognition parameters -->
     <arg

From 2230a076ffe505afeb1b7964eb6f972073e95b7c Mon Sep 17 00:00:00 2001
From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com>
Date: Fri, 20 Sep 2024 21:38:10 +0900
Subject: [PATCH 2/2] fix(perception): adopt awsim (tlr) camera topic (#1177)

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
---
 .../launch/components/tier4_perception_component.launch.xml   | 3 ++-
 autoware_launch/launch/e2e_simulator.launch.xml               | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 883a5282c1..105b49a2d9 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -20,6 +20,7 @@
   <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- Options to Switch Launch Function/Module -->
@@ -48,7 +49,7 @@
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
     <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="traffic_light_recognition/fusion_only" value="false"/>
-    <arg name="all_traffic_light_camera" value="[camera6, camera7]"/>
+    <arg name="all_traffic_light_camera" value="$(var all_traffic_light_camera)"/>
 
     <!-- object recognition parameters -->
     <arg
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 347e3c977c..e905b6ef06 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -25,7 +25,7 @@
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- Perception -->
-  <arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/>
+  <arg name="traffic_light_namespace" default="[traffic_light]" description="traffic light recognition namespace"/>
   <!-- Control -->
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
@@ -79,7 +79,7 @@
       <arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
       <!-- Perception-->
       <arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
-      <arg name="namespace1" value="$(var traffic_light_namespace)"/>
+      <arg name="all_traffic_light_camera" value="$(var traffic_light_namespace)"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>