From 61d989cdcfc6f8f0a41aa6480c6a43a9255e91a3 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Fri, 6 Oct 2023 09:03:28 +0900
Subject: [PATCH] fix(tier4_perception_launch): fix faraway detection to reduce
 calculation cost (#5233)

* fix(tier4_perception_launch): fix node order in radar_based_detection.launch

Signed-off-by: scepter914 <scepter914@gmail.com>

* fix comment out unused node

Signed-off-by: scepter914 <scepter914@gmail.com>

---------

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../detection/radar_based_detection.launch.xml   | 16 ++++++++--------
 .../tracking/tracking.launch.xml                 |  2 ++
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
index 8e2e23b510a07..f39c4aa823ee7 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
@@ -20,14 +20,8 @@
     <arg name="velocity_threshold" value="$(var filter/velocity_threshold)"/>
   </include>
 
-  <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
-    <arg name="input/object" value="noise_filtered_objects"/>
-    <arg name="output/object" value="lanelet_filtered_objects"/>
-    <arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
-  </include>
-
   <include file="$(find-pkg-share object_velocity_splitter)/launch/object_velocity_splitter.launch.xml">
-    <arg name="input/objects" value="lanelet_filtered_objects"/>
+    <arg name="input/objects" value="noise_filtered_objects"/>
     <arg name="output/low_speed_objects" value="low_speed_objects"/>
     <arg name="output/high_speed_objects" value="high_speed_objects"/>
     <arg name="velocity_threshold" value="$(var split/velocity_threshold)"/>
@@ -40,8 +34,14 @@
     <arg name="split_range" value="$(var split_range)"/>
   </include>
 
+  <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
+    <arg name="input/object" value="far_high_speed_objects"/>
+    <arg name="output/object" value="lanelet_filtered_objects"/>
+    <arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+  </include>
+
   <include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
-    <arg name="input/objects" value="far_high_speed_objects"/>
+    <arg name="input/objects" value="lanelet_filtered_objects"/>
     <arg name="output/objects" value="$(var output/objects)"/>
     <arg name="angle_threshold" value="$(var clustering/angle_threshold)"/>
     <arg name="distance_threshold" value="$(var clustering/distance_threshold)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
index 1ba1e8de9d42e..77de1e5995ee0 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -15,6 +15,7 @@
     </include>
 
     <!--radar long range dynamic object tracking if mode contains radar input-->
+    <!--
     <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot; or &quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot; or &quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
       <include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
         <arg name="publish_rate" value="$(var publish_rate)"/>
@@ -25,5 +26,6 @@
         <arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
       </include>
     </group>
+    -->
   </group>
 </launch>