fix(lidar_centerpoint): add arg data_path, update model path (#5162)

Signed-off-by: Alexey Panferov <[email protected]>

perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml

@@ -5,6 +5,7 @@
   <arg name="score_threshold" default="0.35"/>
   <arg name="rviz_config1" default="$(var rviz_path)/centerpoint_tiny.rviz" description="rviz config"/>
   <arg name="rviz_config2" default="$(var rviz_path)/centerpoint.rviz" description="rviz config"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <set_parameter name="use_sim_time" value="true"/>
   <group>
@@ -21,7 +22,7 @@
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
         <arg name="score_threshold" value="$(var score_threshold)"/>
         <arg name="model_name" value="centerpoint"/>
-        <arg name="model_path" value="$(find-pkg-share lidar_centerpoint)/data"/>
+        <arg name="model_path" value="$(var data_path)/lidar_centerpoint"/>
         <arg name="model_param_path" value="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
       </include>
     </group>
@@ -35,7 +36,7 @@
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
         <arg name="score_threshold" value="$(var score_threshold)"/>
         <arg name="model_name" value="centerpoint_tiny"/>
-        <arg name="model_path" value="$(find-pkg-share lidar_centerpoint)/data"/>
+        <arg name="model_path" value="$(var data_path)/lidar_centerpoint"/>
         <arg name="model_param_path" value="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
       </include>
     </group>

perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

@@ -2,8 +2,9 @@
 <launch>
   <arg name="input/pointcloud" default="/sensing/lidar/pointcloud"/>
   <arg name="output/objects" default="objects"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
-  <arg name="model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
+  <arg name="model_path" default="$(var data_path)/lidar_centerpoint"/>
   <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
   <arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
   <arg name="score_threshold" default="0.35"/>

perception/lidar_centerpoint/launch/single_inference_lidar_centerpoint.launch.xml

@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
-  <arg name="model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
+  <arg name="model_path" default="$(var data_path)/lidar_centerpoint"/>
   <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
   <arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
   <arg name="score_threshold" default="0.35"/>