From 8699901b2f0b546ef029034e5174a2d794a46f70 Mon Sep 17 00:00:00 2001
From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com>
Date: Thu, 24 Oct 2024 18:01:21 +0900
Subject: [PATCH] chore(tier4_perception_launch): enable to use argument
 `centerpoint_model_name` (#1182)

* add arguments

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* adopt transfusion

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* add lidar_detection_model_type

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* integrate all in lidar_detection_model

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* adopt universe

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* fix typo

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* change description

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* change description

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* for pre-commit

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

---------

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
---
 .../launch/components/tier4_perception_component.launch.xml    | 3 ++-
 1 file changed, 2 insertions(+), 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 105b49a2d9..9f00aabe4c 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -19,12 +19,13 @@
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
   <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="lidar_detection_model" default="centerpoint" description="If the model name is not declared, the default model in perception.launch.xml will be used"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- Options to Switch Launch Function/Module -->
     <arg name="mode" value="$(var perception_mode)"/>
+    <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
 
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>