Merge pull request #639 from tier4/sync-awf-latest

chore: sync awf-latest

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -19,12 +19,13 @@
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
   <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
   <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: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="If the model name is not declared, the default model in perception.launch.xml will be used"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- Options to Switch Launch Function/Module -->
     <arg name="mode" value="$(var perception_mode)"/>
+    <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
 
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>