feat: override traffic light launcher for gen2 settings (autowarefoun…

…dation#777)

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -15,6 +15,32 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
 
+  <!-- In the Gen2 sensor configuration, the traffic_light_recognition node is launched not through the conventional autoware.universe/launch/tier4_perception_launch but with its own custom launch file.
+  This is because autoware.universe's launch files do not support an arbitrary number of cameras. If autoware.universe's launch files were to support it, it is recommended to use them instead. -->
+  <include file="$(find-pkg-share autoware_launch)/launch/components/traffic_light_recognition/traffic_light.launch.xml">
+    <arg name="fusion_only" value="true"/>
+    <arg name="enable_fine_detection" value="true"/>
+    <arg name="image_number" value="4"/>
+    <arg name="input/cloud" value="/sensing/lidar/top/pointcloud_raw"/>
+    <arg name="internal/traffic_signals" value="/perception/traffic_light_recognition/internal/traffic_signals"/>
+    <arg name="fusion/traffic_signals" value="/perception/traffic_light_recognition/fusion/traffic_signals"/>
+    <arg name="external/traffic_signals" value="/perception/traffic_light_recognition/external/traffic_signals"/>
+    <arg name="output/traffic_signals" value="/perception/traffic_light_recognition/traffic_signals"/>
+    <arg name="use_crosswalk_traffic_light_estimator" value="true"/>
+    <arg name="crosswalk_traffic_light_estimator_param_file" value="$(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/>
+
+    <arg name="camera_namespaces" value="['camera4', 'camera5', 'camera6', 'camera7']"/>
+    <arg name="fine_detector_label_path" value="$(var data_path)/traffic_light_fine_detector/tlr_labels.txt"/>
+    <arg name="fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector/tlr_yolox_s_batch_6.onnx"/>
+    <arg name="car_classifier_label_path" value="$(var data_path)/traffic_light_classifier/lamp_labels.txt"/>
+    <arg name="pedestrian_classifier_label_path" value="$(var data_path)/traffic_light_classifier/lamp_labels_ped.txt"/>
+    <arg name="car_classifier_model_path" value="$(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx"/>
+    <arg name="pedestrian_classifier_model_path" value="$(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx"/>
+  </include>
+
+  <!-- NOTE: Override by false to disable conventional traffic light recognition launch -->
+  <let name="use_traffic_light_recognition" value="false"/>
+
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
@@ -178,7 +204,7 @@
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
 
     <!-- traffic light recognition -->
-    <arg name="use_traffic_light_recognition" value="true"/>
+    <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
     <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="traffic_light_recognition/fusion_only" value="true"/>
     <arg name="traffic_light_image_number" value="1"/>