From 2b767b8cba3c28a0f072315fc54a9ebbce0a26de Mon Sep 17 00:00:00 2001
From: Yusuke Muramatsu <yukke42@users.noreply.github.com>
Date: Wed, 26 Jul 2023 15:29:58 +0900
Subject: [PATCH] fix(autoware_launch): resolove error to use centerpoint
 (#570)

Signed-off-by: yukke42 <yukke42@users.noreply.github.com>
---
 .../components/tier4_perception_component.launch.xml      | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 15ae68f2a1..ebf050ea02 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -14,9 +14,9 @@
     <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="$(find-pkg-share ml_model_provider)/config/lidar_centerpoint/aip_xx1.param.yaml"/>
+    <arg name="object_recognition_detection_lidar_model_param_path" value="$(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"