Merge pull request autowarefoundation#669 from tier4/fix/Psim_and_def…

…ault_perception_mode fix: fix psim and default perception mode
soblin · Oct 17, 2023 · 86cd3e7 · 86cd3e7
2 parents 4b333d7 + 556a4c6
commit 86cd3e7
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Showing 2 changed files with 23 additions and 1 deletion.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -37,7 +37,7 @@
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <!-- Perception -->
-  <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
+  <arg name="perception_mode" default="camera_lidar_radar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="use_traffic_light_recognition" default="true"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <arg name="traffic_light_recognition/fusion_only" default="true" description="Whether to start only some of the signal recognition related nodes"/>

diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -44,5 +44,27 @@
     <arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
+    <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
+
+    <arg
+      name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_radar_object_tracker_node_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_object_merger_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_object_merger_node_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml"
+    />
   </include>
 </launch>