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feat(perception): add lidar_detection_model option
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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kosuke55 committed Feb 15, 2024
1 parent 59556db commit ba72233
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1 change: 1 addition & 0 deletions autoware_launch/launch/autoware.launch.xml
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<arg name="rviz_respawn" default="true"/>
<!-- Perception -->
<arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
<arg name="lidar_detection_model" default="apollo" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
<!-- Auto mode setting-->
<arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<arg name="mode" value="$(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)"/>
<arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
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