feat(traffic_light_recognition): add tlr args in tier4_perception_com…

…ponent.launch.xml

Signed-off-by: Shunsuke Miura <[email protected]>

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -9,12 +9,13 @@
     description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
   />
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="traffic_light_recognition/fusion_only" default="true" description="Whether to launch only fusion part of the signal recognition related nodes"/>
+  <arg name="traffic_light_recognition/enable_fine_detection" description="enable traffic light fine detection"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
     <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)"/>
-    <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
@@ -152,6 +153,11 @@
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
 
     <!-- traffic light recognition -->
+    <arg name="use_traffic_light_recognition" value="true"/>
+    <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+    <arg name="traffic_light_recognition/fusion_only" value="$(var traffic_light_recognition/fusion_only)"/>
+    <arg name="traffic_light_image_number" value="1"/>
+
     <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_car_ped_yolox_s_batch_6"/>