From 76d5bb9d32e85933bfb41ca697ca187644152d27 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Thu, 1 Feb 2024 13:40:31 +0900
Subject: [PATCH] chore(tier4_perception_launch): fix arg name radar lanelet
 filter (#6215)

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../object_recognition/detection/detection.launch.xml     | 8 +++-----
 .../detection/detector/radar_detector.launch.xml          | 2 +-
 .../tier4_perception_launch/launch/perception.launch.xml  | 4 ++--
 3 files changed, 6 insertions(+), 8 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 385372b34f81b..50b73709cc902 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
@@ -31,8 +31,6 @@
 
   <!-- Radar parameters -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
-  <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
 
   <!-- Camera-Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
@@ -75,10 +73,10 @@
       <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_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="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
         <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
-        <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
       </include>
     </group>
@@ -176,10 +174,10 @@
       <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_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="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
         <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
-        <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
       </include>
     </group>
@@ -238,10 +236,10 @@
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="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="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
       <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
-      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
       <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
index f79a227873c29..b09684281d33a 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
@@ -33,7 +33,7 @@
   <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
     <arg name="input/object" value="far_high_speed_objects"/>
     <arg name="output/object" value="lanelet_filtered_objects"/>
-    <arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+    <arg name="filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index f78cdcea10670..0d517ced97d17 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -14,8 +14,8 @@
   <arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
   <arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
   <arg name="object_recognition_detection_lidar_model_param_path"/>
+  <arg name="object_recognition_detection_radar_lanelet_filtering_range_param_path"/>
   <arg name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"/>
-  <arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
   <arg name="object_recognition_detection_radar_object_clustering_param_path"/>
   <arg name="object_recognition_detection_object_velocity_splitter_radar_param_path"/>
   <arg name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"/>
@@ -190,7 +190,7 @@
           <arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
-          <arg name="radar_lanelet_filtering_range_param" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param)"/>
+          <arg name="radar_lanelet_filtering_range_param_path" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param_path)"/>
           <arg name="radar_object_clustering_param_path" value="$(var object_recognition_detection_radar_object_clustering_param_path)"/>
           <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>