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tier4 · Nov 30, 2023 · fca9ce1 · fca9ce1
1 parent de6a994
commit fca9ce1
Showing 1 changed file with 1 addition and 34 deletions.
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -138,7 +138,7 @@
       <!-- Detection module -->
       <group>
         <push-ros-namespace namespace="detection"/>
-        <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
+        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
           <arg name="mode" value="$(var mode)"/>
           <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
           <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
@@ -174,39 +174,6 @@
           <arg name="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="trust_distance" value="$(var trust_distance)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
-        </include> -->
-        <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-        <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
-        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
-          <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-          <arg name="image_raw0" value="$(var image_raw0)"/>
-          <arg name="camera_info0" value="$(var camera_info0)"/>
-          <arg name="image_raw1" value="$(var image_raw1)"/>
-          <arg name="camera_info1" value="$(var camera_info1)"/>
-          <arg name="image_raw2" value="$(var image_raw2)"/>
-          <arg name="camera_info2" value="$(var camera_info2)"/>
-          <arg name="image_raw3" value="$(var image_raw3)"/>
-          <arg name="camera_info3" value="$(var camera_info3)"/>
-          <arg name="image_raw4" value="$(var image_raw4)"/>
-          <arg name="camera_info4" value="$(var camera_info4)"/>
-          <arg name="image_raw5" value="$(var image_raw5)"/>
-          <arg name="camera_info5" value="$(var camera_info5)"/>
-          <arg name="image_raw6" value="$(var image_raw6)"/>
-          <arg name="camera_info6" value="$(var camera_info6)"/>
-          <arg name="image_raw7" value="$(var image_raw7)"/>
-          <arg name="camera_info7" value="$(var camera_info7)"/>
-          <arg name="image_number" value="$(var image_number)"/>
-          <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-          <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-          <arg name="use_object_filter" value="$(var use_object_filter)"/>
-          <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-          <arg name="container_name" value="$(var container_name)"/>
-          <arg name="remove_unknown" value="$(var remove_unknown)"/>
-          <arg name="trust_distance" value="$(var trust_distance)"/>
-          <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
-          <arg name="input/radar" value="$(var input/radar)"/>
-          <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
-          <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
         </include>
       </group>