From 5020749764b688eb3f4323331360407b97ce0820 Mon Sep 17 00:00:00 2001
From: Tao Zhong <55872497+tzhong518@users.noreply.github.com>
Date: Fri, 29 Dec 2023 13:39:50 +0900
Subject: [PATCH] feat(autoware_launch): update traffic light recognition
 models (#752)

* fix: update model names

Signed-off-by: tzhong518 <sworgun@gmail.com>

* fix: argument name

Signed-off-by: tzhong518 <sworgun@gmail.com>

* Update autoware_launch/launch/components/tier4_perception_component.launch.xml

* fix: model name

Signed-off-by: tzhong518 <sworgun@gmail.com>

* fix: add model path

Signed-off-by: tzhong518 <sworgun@gmail.com>

* Update autoware_launch/launch/components/tier4_perception_component.launch.xml

---------

Signed-off-by: tzhong518 <sworgun@gmail.com>
Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
---
 .../launch/components/tier4_perception_component.launch.xml  | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 49156fba51..3a968f0f27 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -127,8 +127,9 @@
     <!-- traffic light recognition -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
     <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
-    <arg name="traffic_light_fine_detector_model_name" value="tlr_yolox_s_batch_6"/>
+    <arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>
     <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>
-    <arg name="traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
+    <arg name="car_traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
+    <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_4"/>
   </include>
 </launch>