chore(tier4_perception_launch): enable to use argument `centerpoint_m…

…odel_name` (#1182) * add arguments Signed-off-by: MasatoSaeki <[email protected]> * adopt transfusion Signed-off-by: MasatoSaeki <[email protected]> * add lidar_detection_model_type Signed-off-by: MasatoSaeki <[email protected]> * integrate all in lidar_detection_model Signed-off-by: MasatoSaeki <[email protected]> * adopt universe Signed-off-by: MasatoSaeki <[email protected]> * fix typo Signed-off-by: MasatoSaeki <[email protected]> * change description Signed-off-by: MasatoSaeki <[email protected]> * change description Signed-off-by: MasatoSaeki <[email protected]> * for pre-commit Signed-off-by: MasatoSaeki <[email protected]> --------- Signed-off-by: MasatoSaeki <[email protected]>
autowarefoundation · Oct 24, 2024 · 8699901 · 8699901
1 parent 01398f3
commit 8699901
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/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)"/>