From a2be24241a0ce03dbe9527609f8e5872d8fb83d9 Mon Sep 17 00:00:00 2001
From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
Date: Mon, 31 Jul 2023 14:25:36 +0900
Subject: [PATCH] fix(autoware_launch): resolove error to use centerpoint
 (#570) (#578)

Signed-off-by: yukke42 <yukke42@users.noreply.github.com>
Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>
---
 .../components/tier4_perception_component.launch.xml   | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 0286e0de03..ebf050ea02 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -14,10 +14,10 @@
     <arg name="input/pointcloud" value="/sensing/lidar/concatenated/pointcloud"/>
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
     <arg name="lidar_detection_model" value="pointpainting"/>
-    <arg name="centerpoint_model_name" value="aip_xx1"/>
-    <arg name="centerpoint_model_path" value="$(find-pkg-share ml_model_provider)/data/lidar_centerpoint"/>
-    <arg name="centerpoint_model_param_path" value="$(find-pkg-share ml_model_provider)/config/lidar_centerpoint/aip_xx1.param.yaml"/>
-    <arg name="traffic_light_recognition/fusion_only" value="$(var traffic_light_recognition/fusion_only)"/>
+    <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share ml_model_provider)/config"/>
+    <arg name="centerpoint_model_name" value="centerpoint_xx1"/>
+    <arg name="centerpoint_model_path" value="$(find-pkg-share ml_model_provider)/data"/>
+    <arg name="traffic_light_recognition/fusion_only" value="true"/>
     <arg name="remove_unknown" value="false"/>
     <arg name="trust_distance" value="100.0"/>
 
@@ -64,7 +64,7 @@
       name="object_recognition_detection_object_merger_distance_threshold_list_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
     />
-    <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
+    <!-- <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/> -->
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"