From 952753f86b1408e011c178193604b7aa8d88f90c Mon Sep 17 00:00:00 2001
From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com>
Date: Thu, 28 Sep 2023 16:30:47 +0300
Subject: [PATCH] feat(perception_launch): add data_path arg to perception
 launch (#5069)

* feat(perception_launch): add var data_path to perception.launch

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

* feat(perception_launch): update default center_point_model_path

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

---------

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
---
 .../detection/lidar_based_detection.launch.xml             | 2 +-
 .../tier4_perception_launch/launch/perception.launch.xml   | 7 ++++---
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 23e0297dc5e44..3b6b9ba652a24 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -10,7 +10,7 @@
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
   <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
-  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
+  <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
   <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
   <arg name="objects_filter_method" default="lanelet_filter"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 36d43bab74894..b0219376e9625 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -25,11 +25,12 @@
 
   <!-- CenterPoint model parameters -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
-  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
+  <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
 
   <!-- Common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
@@ -78,11 +79,11 @@
   <arg name="traffic_light_image_number" default="1" description="choose traffic light image raw number(1-2)"/>
   <arg
     name="traffic_light_fine_detector_model_path"
-    default="$(find-pkg-share traffic_light_fine_detector)/data"
+    default="$(var data_path)/traffic_light_fine_detector"
     description="options: `tlr_yolox_s_batch_**`. The batch number must be either one of 1, 4, 6"
   />
   <arg name="traffic_light_fine_detector_model_name" default="tlr_yolox_s_batch_6" description="options: `tlr_yolox_s_batch_**`. The batch number must be either one of 1, 4, 6"/>
-  <arg name="traffic_light_classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data" description="classifier onnx model path"/>
+  <arg name="traffic_light_classifier_model_path" default="$(var data_path)/traffic_light_classifier" description="classifier onnx model path"/>
   <arg
     name="traffic_light_classifier_model_name"
     default="traffic_light_classifier_mobilenetv2_batch_6"