fix camera lidar radar fusion flow when 'tracking' is used.

Signed-off-by: yoshiri <[email protected]>

launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml

@@ -388,19 +388,23 @@
     </include>
   </group>
 
+  <!-- Switch filter output name by 'radar_long_range_integration' parameter defined in perception.launch -->
+  <let name="output_of_filtered_objects" value="$(var output/objects)" if="$(eval &quot; '$(var radar_long_range_integration)'=='tracking' &quot;)"/>
+  <let name="output_of_filtered_objects" value="near_objects" unless="$(eval &quot; '$(var radar_long_range_integration)'=='tracking' &quot;)"/>
+
   <!-- Filter -->
   <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
     <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
       <arg name="input/object" value="objects_before_filter"/>
-      <arg name="output/object" value="near_objects"/>
+      <arg name="output/object" value="$(var output_of_filtered_objects)"/>
       <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
     </include>
   </group>
 
   <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
     <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
       <arg name="input/object" value="objects_before_filter"/>
-      <arg name="output/object" value="near_objects"/>
+      <arg name="output/object" value="$(var output_of_filtered_objects)"/>
       <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
     </include>
   </group>