From 83263b29c913719958dc340a0e8053264d956fb0 Mon Sep 17 00:00:00 2001
From: Tomohito ANDO <tomohito.ando@tier4.jp>
Date: Wed, 19 Feb 2025 09:18:18 +0900
Subject: [PATCH] chore(traffic_light_multi_camera_fusion): read parameters
 from yaml file (#1331)

* chore(traffic_light_multi_camera_fusion): read parameters from yaml file

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* style(pre-commit): autofix

* remove camera namespace parameter from config file

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

---------

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../traffic_light_multi_camera_fusion.param.yaml              | 4 ++++
 .../launch/components/tier4_perception_component.launch.xml   | 4 ++++
 2 files changed, 8 insertions(+)
 create mode 100644 autoware_launch/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml

diff --git a/autoware_launch/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml b/autoware_launch/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml
new file mode 100644
index 0000000000..711c283bc2
--- /dev/null
+++ b/autoware_launch/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    message_lifespan: 0.09
+    approximate_sync: false
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 91ab70fb08..a9c1e32d00 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -193,6 +193,10 @@
 
     <!-- traffic light recognition parameters -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
+    <arg
+      name="traffic_light_multi_camera_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml"
+    />
     <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
     <arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>
     <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>