From 36a6b5b21baca9949015297e05b68c1b739d9751 Mon Sep 17 00:00:00 2001
From: tzhong518 <sworgun@gmail.com>
Date: Mon, 25 Dec 2023 09:51:12 +0900
Subject: [PATCH 1/6] fix: update model names

Signed-off-by: tzhong518 <sworgun@gmail.com>
---
 .../launch/components/tier4_perception_component.launch.xml  | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 49156fba51..b395fa4f95 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -126,9 +126,10 @@
 
     <!-- traffic light recognition -->
     <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_pedcar_yolox_s_batch_6"/>
     <arg name="traffic_light_fine_detector_model_name" value="tlr_yolox_s_batch_6"/>
-    <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>
+    <arg name="traffic_light_classifier_model_name_car" value="traffic_light_classifier_mobilenetv2_batch_6"/>
+    <arg name="traffic_light_classifier_model_name_ped" value="ped_traffic_light_classifier_mobilenetv2_batch_6"/>
     <arg name="traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
   </include>
 </launch>

From 08d8c2a8e9d33458058075efc323f4b8eecbe52c Mon Sep 17 00:00:00 2001
From: tzhong518 <sworgun@gmail.com>
Date: Tue, 26 Dec 2023 11:35:26 +0900
Subject: [PATCH 2/6] fix: argument name

Signed-off-by: tzhong518 <sworgun@gmail.com>
---
 .../launch/components/tier4_perception_component.launch.xml  | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index b395fa4f95..0cb769603f 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -128,8 +128,7 @@
     <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_name" value="tlr_pedcar_yolox_s_batch_6"/>
     <arg name="traffic_light_fine_detector_model_name" value="tlr_yolox_s_batch_6"/>
-    <arg name="traffic_light_classifier_model_name_car" value="traffic_light_classifier_mobilenetv2_batch_6"/>
-    <arg name="traffic_light_classifier_model_name_ped" value="ped_traffic_light_classifier_mobilenetv2_batch_6"/>
-    <arg name="traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
+    <arg name="car_traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
+    <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_6"/>
   </include>
 </launch>

From 782e261a54557dd9b3b26c9c44f92326146279cc Mon Sep 17 00:00:00 2001
From: Yusuke Muramatsu <yukke42@users.noreply.github.com>
Date: Wed, 27 Dec 2023 18:16:40 +0900
Subject: [PATCH 3/6] Update
 autoware_launch/launch/components/tier4_perception_component.launch.xml

---
 .../launch/components/tier4_perception_component.launch.xml      | 1 -
 1 file changed, 1 deletion(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 0cb769603f..76b1564743 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -127,7 +127,6 @@
     <!-- traffic light recognition -->
     <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_name" value="tlr_pedcar_yolox_s_batch_6"/>
-    <arg name="traffic_light_fine_detector_model_name" value="tlr_yolox_s_batch_6"/>
     <arg name="car_traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
     <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_6"/>
   </include>

From 9a18e64c94740ce4697033fec18e7f4551077f49 Mon Sep 17 00:00:00 2001
From: tzhong518 <sworgun@gmail.com>
Date: Thu, 28 Dec 2023 11:28:55 +0900
Subject: [PATCH 4/6] fix: model name

Signed-off-by: tzhong518 <sworgun@gmail.com>
---
 .../launch/components/tier4_perception_component.launch.xml     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 76b1564743..6b06d32083 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -126,7 +126,7 @@
 
     <!-- traffic light recognition -->
     <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_name" value="tlr_pedcar_yolox_s_batch_6"/>
+    <arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>
     <arg name="car_traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
     <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_6"/>
   </include>

From fbcad847f9a0d1384fc1837b00d9316bc092269b Mon Sep 17 00:00:00 2001
From: tzhong518 <sworgun@gmail.com>
Date: Thu, 28 Dec 2023 11:50:36 +0900
Subject: [PATCH 5/6] fix: add model path

Signed-off-by: tzhong518 <sworgun@gmail.com>
---
 .../launch/components/tier4_perception_component.launch.xml     | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 6b06d32083..3d89dca102 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -126,7 +126,9 @@
 
     <!-- traffic light recognition -->
     <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"/>
+    <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>
     <arg name="car_traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
     <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_6"/>
   </include>

From eb3a35ab9a5694ca25a57a4a21d92b4d9733a73e Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Date: Thu, 28 Dec 2023 14:41:26 +0900
Subject: [PATCH 6/6] Update
 autoware_launch/launch/components/tier4_perception_component.launch.xml

---
 .../launch/components/tier4_perception_component.launch.xml     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 3d89dca102..3a968f0f27 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -130,6 +130,6 @@
     <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"/>
     <arg name="car_traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
-    <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_6"/>
+    <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_4"/>
   </include>
 </launch>