chore(tier4_perception_launcher): remove launch parameter default of …

…detection_by_tracker (#5664) * chore(tier4_perception_launcher): remove launch parameter default Signed-off-by: badai-nguyen <[email protected]> * chore: typo Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]>
autowarefoundation · Nov 26, 2023 · 14ecdb0 · 14ecdb0
1 parent 49112d9
commit 14ecdb0
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Showing 5 changed files with 9 additions and 10 deletions.
diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -194,8 +194,9 @@
   <!-- DetectionByTracker -->
   <group if="$(var use_detection_by_tracker)">
     <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
-    <arg name="detection_by_tracker_param_path" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+    </include>
   </group>
 
   <!-- CenterPoint -->

diff --git a/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -218,8 +218,9 @@
   <!-- DetectionByTracker -->
   <group if="$(var use_detection_by_tracker)">
     <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
-    <arg name="detection_by_tracker_param_path" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+    </include>
   </group>
 
   <!-- CenterPoint -->

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
@@ -74,7 +74,6 @@
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
-      <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
   </group>
 
@@ -106,7 +105,6 @@
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
-      <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
   </group>
 
@@ -136,7 +134,6 @@
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
   </group>
 

diff --git a/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -60,8 +60,9 @@
   <!-- DetectionByTracker -->
   <group if="$(var use_detection_by_tracker)">
     <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
-    <arg name="detection_by_tracker_param_path" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+    </include>
   </group>
 
   <!-- CenterPoint -->

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -177,7 +177,6 @@
           <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_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)"/>
 
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>