From ba72233827833e76d1029c3805601fc456c8dbcc Mon Sep 17 00:00:00 2001
From: kosuke55 <kosuke.tnp@gmail.com>
Date: Thu, 15 Feb 2024 20:35:52 +0900
Subject: [PATCH] feat(perception): add lidar_detection_model option

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 autoware_launch/launch/autoware.launch.xml                       | 1 +
 .../launch/components/tier4_perception_component.launch.xml      | 1 +
 2 files changed, 2 insertions(+)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index a5daf3dd16..465174c7d2 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -42,6 +42,7 @@
   <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"/>
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 3b0f8eca46..2c8fa9c346 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -12,6 +12,7 @@
 
   <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)"/>