From c37f82fefc7269ef06891b20e5f1aac034f68127 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Wed, 11 Dec 2024 10:40:19 +0900
Subject: [PATCH] fix: tl detector launch

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../traffic_light_detector.launch.xml                     | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_detector.launch.xml b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_detector.launch.xml
index c234568ac3f00..d8ad3936a1607 100644
--- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_detector.launch.xml
@@ -10,7 +10,7 @@
       default="tlr_car_ped_yolox_s_960_960_batch_1"
       description="options `yolox-sPlus-T4-960x960-pseudo-finetune` if only detection is needed, `yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls` if sematic segmentation is also needed"
     />
-    <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+    <arg name="data_path" default="/opt/autoware/mlmodels/" description="packages data and artifacts directory path"/>
     <arg name="yolox_param_path" default="$(find-pkg-share autoware_tensorrt_yolox)/config/yolox_s_plus_opt.param.yaml"/>
     <arg name="use_decompress" default="true" description="use image decompress"/>
     <arg name="build_only" default="false" description="exit after trt engine is built"/>
@@ -37,9 +37,9 @@
       <param name="roi_overlay_segment_label.BICYCLE" value="false"/>
       <param name="roi_overlay_segment_label.PEDESTRIAN" value="false"/>
       <param name="roi_overlay_segment_label.ANIMAL" value="false"/>
-      <param name="model_path" value="$(var data_path)/traffic_light_fine_detector_new/$(var model_name).onnx"/>
-      <param name="label_path" value="$(var data_path)/traffic_light_fine_detector_new/label.txt"/>
-      <param name="color_map_path" value="$(var data_path)/traffic_light_fine_detector_new/semseg_color_map.csv"/>
+      <param name="model_path" value="$(var data_path)/traffic_light_detector/$(var model_name).onnx"/>
+      <param name="label_path" value="$(var data_path)/traffic_light_detector/label.txt"/>
+      <param name="color_map_path" value=""/>
       <param name="score_threshold" value="0.35"/>
       <param name="nms_threshold" value="0.7"/>
       <param name="precision" value="fp16"/>