From 345ed3f09f8f3ec34ee08ab763e798fd390d76f1 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Thu, 18 Jan 2024 13:38:13 +0900
Subject: [PATCH] remove pointpainting_model_name

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../detection/camera_lidar_fusion_based_detection.launch.xml  | 4 ++--
 .../camera_lidar_radar_fusion_based_detection.launch.xml      | 4 ++--
 launch/tier4_perception_launch/launch/perception.launch.xml   | 1 -
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index f9b364d175225..cdd9af179433a 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -271,9 +271,9 @@
       <arg name="input/image7" value="$(var image_raw7)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/objects" value="objects"/>
-      <arg name="model_name" value="$(var pointpainting_model_name)"/>
+      <arg name="model_name" value="$(var lidar_detection_model)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
-      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var pointpainting_model_name).param.yaml"/>
+      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index bef98a8fa280c..ddbc1013968b1 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -296,9 +296,9 @@
       <arg name="input/image6" value="$(var image_raw6)"/>
       <arg name="input/image7" value="$(var image_raw7)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="model_name" value="$(var pointpainting_model_name)"/>
+      <arg name="model_name" value="$(var lidar_detection_model)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
-      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var pointpainting_model_name).param.yaml"/>
+      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 085dc8b39fd31..65d8ac99d93e6 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -32,7 +32,6 @@
   <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
 
   <!-- PointPainting model parameters -->
-  <arg name="pointpainting_model_name" default="pointpainting" description="options: `pointpainting`"/>
   <arg name="pointpainting_model_path" default="$(var data_path)/image_projection_based_fusion"/>
 
   <!-- Common parameters -->