From 65e1cc3cce706915e46490b7f03aee5b7a70bc2d Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Tue, 19 Sep 2023 14:17:42 +0900
Subject: [PATCH 01/11] fix conflict

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 ...ra_lidar_fusion_based_detection.launch.xml |  6 ++--
 ...ar_radar_fusion_based_detection.launch.xml | 33 ++++++++++++-------
 .../detection/detection.launch.xml            | 32 +++++++++++-------
 .../lidar_based_detection.launch.xml          |  4 +--
 .../lidar_radar_based_detection.launch.xml    | 15 +++++----
 .../radar_based_detection.launch.xml          | 14 ++++----
 .../launch/perception.launch.xml              | 28 +++++++++-------
 7 files changed, 79 insertions(+), 53 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index c74c0fdcc63b7..7c18ad4bf9cd0 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface param -->
+  <!-- Interface parameters -->
   <arg name="output/objects" default="objects"/>
 
-  <!-- LiDAR param -->
+  <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="container_name" default="pointcloud_container"/>
@@ -19,7 +19,7 @@
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
 
-  <!-- Camera param -->
+  <!-- Camera parameters -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
   <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
   <arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 99f09cfe6abbd..020b6ca77b64a 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface param -->
+  <!-- Interface parameters -->
   <arg name="output/objects" default="objects"/>
 
-  <!-- LiDAR param -->
+  <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="container_name" default="pointcloud_container"/>
 
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="score_threshold" default="0.35"/>
+  <arg name="lidar_detection_score_threshold" default="0.35"/>
 
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
@@ -19,7 +19,7 @@
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
 
-  <!-- Camera param -->
+  <!-- Camera parameters -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
   <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
   <arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
@@ -46,8 +46,9 @@
   <arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
   <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
 
-  <!-- Radar param -->
+  <!-- Radar parameters -->
   <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"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
@@ -62,7 +63,7 @@
     <arg name="image_number" value="$(var image_number)"/>
   </include> -->
 
-  <!-- Radar detection-->
+  <!-- Radar detection -->
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
@@ -178,7 +179,7 @@
       <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
         <arg name="output/objects" value="objects"/>
-        <arg name="score_threshold" value="$(var score_threshold)"/>
+        <arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
@@ -250,7 +251,7 @@
     </include>
   </group>
 
-  <!-- Radar fusion-->
+  <!-- Radar fusion -->
   <group>
     <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
       <arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
@@ -259,7 +260,7 @@
     </include>
   </group>
 
-  <!-- Camera late fusion-->
+  <!-- Camera late fusion -->
   <group>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
       <arg name="input/camera_info0" value="$(var camera_info0)"/>
@@ -341,7 +342,7 @@
   <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
     <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
       <arg name="input/object" value="objects_before_filter"/>
-      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="output/object" value="near_objects"/>
       <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
     </include>
   </group>
@@ -349,8 +350,18 @@
   <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
     <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
       <arg name="input/object" value="objects_before_filter"/>
-      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="output/object" value="near_objects"/>
       <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
     </include>
   </group>
+
+  <!-- Merge far_objects and near_objects. This merger will be removed after tracking fusion operates stably. -->
+  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <arg name="input/object0" value="near_objects"/>
+    <arg name="input/object1" value="radar/far_objects"/>
+    <arg name="output/object" value="$(var output/objects)"/>
+    <arg name="priority_mode" value="0"/>
+    <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
+    <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
+  </include>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index ca5d1d0f7e8bb..8023312cfcd93 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -1,8 +1,9 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Interface parameters -->
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
 
-  <!-- lidar param -->
+  <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
@@ -10,7 +11,7 @@
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
 
-  <!-- camera param -->
+  <!-- Camera parameters -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
   <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
   <arg name="image_raw1" default=""/>
@@ -29,14 +30,15 @@
   <arg name="camera_info7" default=""/>
   <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
 
-  <!-- camera lidar fusion param -->
+  <!-- Radar parameters -->
+  <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"/>
+
+  <!-- Camera-LiDAR fusion parameters -->
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
 
-  <!-- radar param -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-
-  <!-- camera lidar radar fusion based detection-->
+  <!-- Camera-LiDAR-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
     <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)"/>
@@ -65,10 +67,14 @@
       <arg name="remove_unknown" value="$(var remove_unknown)"/>
       <arg name="trust_distance" value="$(var trust_distance)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      <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)"/>
     </include>
   </group>
 
-  <!-- camera lidar fusion based detection-->
+  <!-- Camera-LiDAR fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -97,7 +103,7 @@
     </include>
   </group>
 
-  <!-- lidar radar based detection-->
+  <!-- LiDAR-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -106,11 +112,14 @@
       <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="$(var container_name)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
     </include>
   </group>
 
-  <!-- lidar based detection-->
+  <!-- LiDAR based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -122,11 +131,12 @@
     </include>
   </group>
 
-  <!-- radar based detection-->
+  <!-- Radar based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
+      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 5b6134dc45584..01943a49d3d35 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -10,7 +10,7 @@
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="score_threshold" default="0.35"/>
+  <arg name="lidar_detection_score_threshold" default="0.35"/>
   <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
   <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
   <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
@@ -74,7 +74,7 @@
       <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
         <arg name="output/objects" value="objects"/>
-        <arg name="score_threshold" value="$(var score_threshold)"/>
+        <arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
index a47e6a86f1c7b..4eee611c33992 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -1,18 +1,19 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- lidar param -->
+  <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
-  <arg name="score_threshold" default="0.20"/>
+  <arg name="lidar_detection_score_threshold" default="0.35"/>
 
-  <!-- radar param -->
+  <!-- Radar parameters -->
   <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"/>
 
-  <!-- lidar based detection-->
+  <!-- LiDAR detection-->
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -22,11 +23,11 @@
       <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="$(var container_name)"/>
-      <arg name="score_threshold" value="$(var score_threshold)"/>
+      <arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
     </include>
   </group>
 
-  <!-- radar detection-->
+  <!-- Radar detection-->
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
@@ -42,7 +43,7 @@
     </include>
   </group>
 
-  <!-- lidar radar fusion-->
+  <!-- LiDAR-Radar fusion-->
   <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
     <arg name="input/objects" value="lidar/objects"/>
     <arg name="input/radars" value="radar/noise_filtered_objects"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
index 8e2e23b510a07..52c8aedff8ef9 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
@@ -2,14 +2,14 @@
 <launch>
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
   <arg name="output/objects" default="far_objects"/>
-  <arg name="filter/angle_threshold" default="1.0472"/>
-  <arg name="filter/velocity_threshold" default="3.0"/>
-  <arg name="split/velocity_threshold" default="4.5"/>
-  <arg name="split_range" default="70.0"/>
-  <arg name="clustering/angle_threshold" default="0.174"/>
+  <arg name="filter/angle_threshold" default="1.221"/>
+  <arg name="filter/velocity_threshold" default="1.5"/>
+  <arg name="split/velocity_threshold" default="5.5"/>
+  <arg name="split_range" default="80.0"/>
+  <arg name="clustering/angle_threshold" default="0.349"/>
   <arg name="clustering/distance_threshold" default="10.0"/>
-  <arg name="clustering/velocity_threshold" default="4.0"/>
-  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml"/>
+  <arg name="clustering/velocity_threshold" default="5.0"/>
+  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
 
   <!-- Detection for far dynamic objects -->
   <include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index c41177e51116b..ec3fce594540a 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -13,6 +13,7 @@
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path"/>
   <arg name="object_recognition_detection_fusion_sync_param_path"/>
   <arg name="object_recognition_detection_lidar_model_param_path"/>
+  <arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"/>
@@ -24,11 +25,11 @@
   <arg name="occupancy_grid_map_updater_param_path"/>
   <arg name="traffic_light_arbiter_param_path"/>
 
-  <!-- centerpoint model configs -->
+  <!-- CenterPoint model parameters -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
   <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
 
-  <!-- common parameters -->
+  <!-- Common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
@@ -70,7 +71,8 @@
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="objects_filter_method" default="lanelet_filter"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
-  <!-- Traffic Light Recognition Parameters -->
+
+  <!-- Traffic light recognition parameters -->
   <arg name="use_traffic_light_recognition" default="true"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true"/>
   <arg name="traffic_light_recognition/fusion_only" default="false"/>
@@ -88,15 +90,15 @@
     description="options: `traffic_light_classifier_mobilenetv2_batch_*` or `traffic_light_classifier_efficientNet_b1_batch_*`. The batch number must be either one of 1, 4, 6"
   />
 
-  <!-- Camera Lidar Fusion Parameters -->
+  <!-- Camera-Lidar fusion parameters -->
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
 
-  <!-- perception module -->
+  <!-- Perception module -->
   <group>
     <push-ros-namespace namespace="perception"/>
 
-    <!-- object segmentation module -->
+    <!-- Object segmentation module -->
     <group>
       <push-ros-namespace namespace="obstacle_segmentation"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
@@ -109,7 +111,7 @@
       </include>
     </group>
 
-    <!-- occupancy grid map module -->
+    <!-- Occupancy grid map module -->
     <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
@@ -127,10 +129,10 @@
       </include>
     </group>
 
-    <!-- object recognition module -->
+    <!-- Object recognition module -->
     <group unless="$(var use_empty_dynamic_object_publisher)">
       <push-ros-namespace namespace="object_recognition"/>
-      <!-- detection module -->
+      <!-- Detection module -->
       <group>
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
@@ -161,6 +163,7 @@
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
           <arg name="voxel_grid_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
+          <arg name="radar_lanelet_filtering_range_param" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
@@ -171,14 +174,15 @@
         </include>
       </group>
 
-      <!-- tracking module -->
+      <!-- Tracking module -->
       <group>
         <push-ros-namespace namespace="tracking"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
           <arg name="mode" value="$(var mode)"/>
         </include>
       </group>
-      <!-- prediction module -->
+
+      <!-- Prediction module -->
       <group>
         <push-ros-namespace namespace="prediction"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
@@ -194,7 +198,7 @@
       </node>
     </group>
 
-    <!-- traffic light module -->
+    <!-- Traffic light module -->
     <group if="$(var use_traffic_light_recognition)">
       <push-ros-namespace namespace="traffic_light_recognition"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">

From c3c926a57c429946866f3e8bf3941d44eb9a09b0 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Tue, 19 Sep 2023 14:16:06 +0900
Subject: [PATCH 02/11] fix(radar_tracks_msg_converter): fix twist coordinate
 conversion (#4993)

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../radar_tracks_msgs_converter_node.cpp          | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

diff --git a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
index ab5e4eb5abe90..df7726ce7dad5 100644
--- a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
+++ b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
@@ -212,8 +212,15 @@ TrackedObjects RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects()
     kinematics.orientation_availability = TrackedObjectKinematics::AVAILABLE;
     kinematics.is_stationary = false;
 
-    // Twist conversion
-    geometry_msgs::msg::Vector3 compensated_velocity = radar_track.velocity;
+    geometry_msgs::msg::Vector3 compensated_velocity{};
+    {
+      double rotate_yaw = tf2::getYaw(transform_->transform.rotation);
+      const geometry_msgs::msg::Vector3 & vel = radar_track.velocity;
+      compensated_velocity.x = vel.x * std::cos(rotate_yaw) - vel.y * std::sin(rotate_yaw);
+      compensated_velocity.y = vel.x * std::sin(rotate_yaw) + vel.y * std::cos(rotate_yaw);
+      compensated_velocity.z = radar_track.velocity.z;
+    }
+
     if (node_param_.use_twist_compensation) {
       if (odometry_data_) {
         compensated_velocity.x += odometry_data_->twist.twist.linear.x;
@@ -233,12 +240,12 @@ TrackedObjects RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects()
 
     double yaw = tier4_autoware_utils::normalizeRadian(
       std::atan2(compensated_velocity.y, compensated_velocity.x));
-    radar_pose_stamped.pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
 
     geometry_msgs::msg::PoseStamped transformed_pose_stamped{};
     tf2::doTransform(radar_pose_stamped, transformed_pose_stamped, *transform_);
     kinematics.pose_with_covariance.pose = transformed_pose_stamped.pose;
-
+    kinematics.pose_with_covariance.pose.orientation =
+      tier4_autoware_utils::createQuaternionFromYaw(yaw);
     {
       auto & pose_cov = kinematics.pose_with_covariance.covariance;
       auto & radar_position_cov = radar_track.position_covariance;

From 8e0036aafbe170ecd2e0a8f6628b72145d483688 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Tue, 19 Sep 2023 11:58:56 +0900
Subject: [PATCH 03/11] fix(radar_fusion_to_detected_object): fix confidence
 (#4992)

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../src/radar_fusion_to_detected_object.cpp                     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp b/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
index 4f0933e993de8..523124078d7f2 100644
--- a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
+++ b/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
@@ -293,7 +293,7 @@ TwistWithCovariance RadarFusionToDetectedObject::estimateTwist(
 bool RadarFusionToDetectedObject::isQualified(
   const DetectedObject & object, std::shared_ptr<std::vector<RadarInput>> & radars)
 {
-  if (object.classification[0].probability > param_.threshold_probability) {
+  if (object.existence_probability > param_.threshold_probability) {
     return true;
   } else {
     if (!radars || !(*radars).empty()) {

From 31d3664d3b374d6e2b3174ed37fe120ffed77cdd Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Thu, 14 Sep 2023 18:33:19 +0900
Subject: [PATCH 04/11] feat(object_merger): add queue size parameter (#4994)

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../object_association_merger/node.hpp        | 16 +++++++-------
 .../object_association_merger.launch.xml      |  2 ++
 .../src/object_association_merger/node.cpp    | 21 +++++++++++--------
 3 files changed, 23 insertions(+), 16 deletions(-)

diff --git a/perception/object_merger/include/object_association_merger/node.hpp b/perception/object_merger/include/object_association_merger/node.hpp
index 1e5b9fad9c9ca..6815b59894083 100644
--- a/perception/object_merger/include/object_association_merger/node.hpp
+++ b/perception/object_merger/include/object_association_merger/node.hpp
@@ -59,14 +59,16 @@ class ObjectAssociationMergerNode : public rclcpp::Node
   tf2_ros::TransformListener tf_listener_;
   rclcpp::Publisher<autoware_auto_perception_msgs::msg::DetectedObjects>::SharedPtr
     merged_object_pub_;
-  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object0_sub_;
-  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object1_sub_;
-  typedef message_filters::sync_policies::ApproximateTime<
+  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object0_sub_{};
+  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object1_sub_{};
+
+  using SyncPolicy = message_filters::sync_policies::ApproximateTime<
     autoware_auto_perception_msgs::msg::DetectedObjects,
-    autoware_auto_perception_msgs::msg::DetectedObjects>
-    SyncPolicy;
-  typedef message_filters::Synchronizer<SyncPolicy> Sync;
-  Sync sync_;
+    autoware_auto_perception_msgs::msg::DetectedObjects>;
+  using Sync = message_filters::Synchronizer<SyncPolicy>;
+  typename std::shared_ptr<Sync> sync_ptr_;
+
+  int sync_queue_size_;
   std::unique_ptr<DataAssociation> data_association_;
   std::string base_link_frame_id_;  // associated with the base_link frame
 
diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/object_merger/launch/object_association_merger.launch.xml
index 3418f7d5a5e61..a21ae8f7fa327 100644
--- a/perception/object_merger/launch/object_association_merger.launch.xml
+++ b/perception/object_merger/launch/object_association_merger.launch.xml
@@ -6,6 +6,7 @@
   <arg name="priority_mode" default="2" description="0: Object0, 1: Object1, 2: Confidence"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
+  <arg name="sync_queue_size" default="20"/>
 
   <node pkg="object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
     <remap from="input/object0" to="$(var input/object0)"/>
@@ -14,6 +15,7 @@
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var distance_threshold_list_path)"/>
     <param name="priority_mode" value="$(var priority_mode)"/>
+    <param name="sync_queue_size" value="sync_queue_size"/>
     <param name="precision_threshold_to_judge_overlapped" value="0.4"/>
     <param name="remove_overlapped_unknown_objects" value="true"/>
   </node>
diff --git a/perception/object_merger/src/object_association_merger/node.cpp b/perception/object_merger/src/object_association_merger/node.cpp
index 4f600ce8a4948..22d0ac273a140 100644
--- a/perception/object_merger/src/object_association_merger/node.cpp
+++ b/perception/object_merger/src/object_association_merger/node.cpp
@@ -77,20 +77,13 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
   tf_buffer_(get_clock()),
   tf_listener_(tf_buffer_),
   object0_sub_(this, "input/object0", rclcpp::QoS{1}.get_rmw_qos_profile()),
-  object1_sub_(this, "input/object1", rclcpp::QoS{1}.get_rmw_qos_profile()),
-  sync_(SyncPolicy(10), object0_sub_, object1_sub_)
+  object1_sub_(this, "input/object1", rclcpp::QoS{1}.get_rmw_qos_profile())
 {
-  // Create publishers and subscribers
-  using std::placeholders::_1;
-  using std::placeholders::_2;
-  sync_.registerCallback(std::bind(&ObjectAssociationMergerNode::objectsCallback, this, _1, _2));
-  merged_object_pub_ = create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
-    "output/object", rclcpp::QoS{1});
-
   // Parameters
   base_link_frame_id_ = declare_parameter<std::string>("base_link_frame_id", "base_link");
   priority_mode_ = static_cast<PriorityMode>(
     declare_parameter<int>("priority_mode", static_cast<int>(PriorityMode::Confidence)));
+  sync_queue_size_ = declare_parameter<int>("sync_queue_size", 20);
   remove_overlapped_unknown_objects_ =
     declare_parameter<bool>("remove_overlapped_unknown_objects", true);
   overlapped_judge_param_.precision_threshold =
@@ -115,6 +108,16 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
   const auto min_iou_matrix = this->declare_parameter<std::vector<double>>("min_iou_matrix");
   data_association_ = std::make_unique<DataAssociation>(
     can_assign_matrix, max_dist_matrix, max_rad_matrix, min_iou_matrix);
+
+  // Create publishers and subscribers
+  using std::placeholders::_1;
+  using std::placeholders::_2;
+  sync_ptr_ = std::make_shared<Sync>(SyncPolicy(sync_queue_size_), object0_sub_, object1_sub_);
+  sync_ptr_->registerCallback(
+    std::bind(&ObjectAssociationMergerNode::objectsCallback, this, _1, _2));
+
+  merged_object_pub_ = create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
+    "output/object", rclcpp::QoS{1});
 }
 
 void ObjectAssociationMergerNode::objectsCallback(

From f25db9809351b730df3a70c411d6224649a763a4 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Thu, 14 Sep 2023 18:19:55 +0900
Subject: [PATCH 05/11] fix(simple_object_merger): fix timeout (#4990)

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../src/simple_object_merger_node/simple_object_merger_node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
index 506a40e672fb6..1f3e4eb3792ac 100644
--- a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
+++ b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
@@ -168,7 +168,7 @@ void SimpleObjectMergerNode::onTimer()
   output_objects.header.frame_id = node_param_.new_frame_id;
 
   for (size_t i = 0; i < input_topic_size; i++) {
-    double time_diff = (this->get_clock()->now()).seconds() -
+    double time_diff = rclcpp::Time(objects_data_.at(i)->header.stamp).seconds() -
                        rclcpp::Time(objects_data_.at(0)->header.stamp).seconds();
     if (std::abs(time_diff) < node_param_.timeout_threshold) {
       transform_ = transform_listener_->getTransform(

From cb6f9870a461dae5996a283ca89e692f4453931f Mon Sep 17 00:00:00 2001
From: Albers Franz <Franz.Albers@tu-dortmund.de>
Date: Thu, 21 Sep 2023 02:53:15 +0200
Subject: [PATCH 06/11] fix(object_merger): fixed sync_queue_size parameter
 (#5058)

---
 .../object_merger/launch/object_association_merger.launch.xml   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/object_merger/launch/object_association_merger.launch.xml
index a21ae8f7fa327..5754c256fef3c 100644
--- a/perception/object_merger/launch/object_association_merger.launch.xml
+++ b/perception/object_merger/launch/object_association_merger.launch.xml
@@ -15,7 +15,7 @@
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var distance_threshold_list_path)"/>
     <param name="priority_mode" value="$(var priority_mode)"/>
-    <param name="sync_queue_size" value="sync_queue_size"/>
+    <param name="sync_queue_size" value="$(var sync_queue_size)"/>
     <param name="precision_threshold_to_judge_overlapped" value="0.4"/>
     <param name="remove_overlapped_unknown_objects" value="true"/>
   </node>

From 641d9bbc1c1de5624dd14e1c80372ec9e8da19dc Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Thu, 28 Sep 2023 19:55:57 +0900
Subject: [PATCH 07/11] fix(tier4_perception_launch): add parameters for light
 weight radar fusion and fix launch order (#5166)

* fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order

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

* style(pre-commit): autofix

* add far_object_merger_sync_queue_size param for package arg

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

---------

Signed-off-by: scepter914 <scepter914@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 ...ar_radar_fusion_based_detection.launch.xml | 54 ++++++++++++++++++-
 1 file changed, 52 insertions(+), 2 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 020b6ca77b64a..e22240970aa9c 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -49,6 +49,8 @@
   <!-- Radar parameters -->
   <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"/>
+  <arg name="use_near_radar_fusion" default="false"/>
+  <arg name="far_object_merger_sync_queue_size" default="20"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
@@ -105,6 +107,48 @@
       </include>
     </group>
 
+    <!-- roi based clustering -->
+    <group>
+      <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
+        <arg name="input/camera_info0" value="$(var camera_info0)"/>
+        <arg name="input/rois0" value="$(var detection_rois0)"/>
+        <arg name="input/camera_info1" value="$(var camera_info1)"/>
+        <arg name="input/rois1" value="$(var detection_rois1)"/>
+        <arg name="input/camera_info2" value="$(var camera_info2)"/>
+        <arg name="input/rois2" value="$(var detection_rois2)"/>
+        <arg name="input/camera_info3" value="$(var camera_info3)"/>
+        <arg name="input/rois3" value="$(var detection_rois3)"/>
+        <arg name="input/camera_info4" value="$(var camera_info4)"/>
+        <arg name="input/rois4" value="$(var detection_rois4)"/>
+        <arg name="input/camera_info5" value="$(var camera_info5)"/>
+        <arg name="input/rois5" value="$(var detection_rois5)"/>
+        <arg name="input/camera_info6" value="$(var camera_info6)"/>
+        <arg name="input/rois6" value="$(var detection_rois6)"/>
+        <arg name="input/camera_info7" value="$(var camera_info7)"/>
+        <arg name="input/rois7" value="$(var detection_rois7)"/>
+        <arg name="input/rois_number" value="$(var image_number)"/>
+        <arg name="input/image0" value="$(var image_raw0)"/>
+        <arg name="input/image1" value="$(var image_raw1)"/>
+        <arg name="input/image2" value="$(var image_raw2)"/>
+        <arg name="input/image3" value="$(var image_raw3)"/>
+        <arg name="input/image4" value="$(var image_raw4)"/>
+        <arg name="input/image5" value="$(var image_raw5)"/>
+        <arg name="input/image6" value="$(var image_raw6)"/>
+        <arg name="input/image7" value="$(var image_raw7)"/>
+        <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+        <arg name="output_clusters" value="roi_cluster/clusters"/>
+      </include>
+    </group>
+
+    <!-- simple_cluster_merger -->
+    <group>
+      <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
+        <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
+        <arg name="input/cluster1" value="roi_cluster/clusters"/>
+        <arg name="output/clusters" value="clusters"/>
+      </include>
+    </group>
+
     <group>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="input/objects" value="clusters"/>
@@ -116,6 +160,8 @@
       <let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
       <push-ros-namespace namespace="camera_lidar_fusion"/>
       <!-- Fusion camera-lidar to classify -->
+
+      <!-- euclidean clustering -->
       <group>
         <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
           <arg name="input/camera_info0" value="$(var camera_info0)"/>
@@ -253,7 +299,7 @@
 
   <!-- Radar fusion -->
   <group>
-    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
+    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml" if="$(var use_near_radar_fusion)">
       <arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
       <arg name="input/radars" value="radar/noise_filtered_objects"/>
       <arg name="output/objects" value="radar_fusion/objects"/>
@@ -262,6 +308,9 @@
 
   <!-- Camera late fusion -->
   <group>
+    <let name="target_objects" value="radar_fusion/objects" if="$(var use_near_radar_fusion)"/>
+    <let name="target_objects" value="$(var lidar_detection_model)/objects" unless="$(var use_near_radar_fusion)"/>
+
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
       <arg name="input/camera_info0" value="$(var camera_info0)"/>
       <arg name="input/rois0" value="$(var detection_rois0)"/>
@@ -288,7 +337,7 @@
       <arg name="input/image5" value="$(var image_raw5)"/>
       <arg name="input/image6" value="$(var image_raw6)"/>
       <arg name="input/image7" value="$(var image_raw7)"/>
-      <arg name="input/objects" value="radar_fusion/objects"/>
+      <arg name="input/objects" value="$(var target_objects)"/>
       <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
     </include>
   </group>
@@ -363,5 +412,6 @@
     <arg name="priority_mode" value="0"/>
     <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
     <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
+    <arg name="sync_queue_size" value="$(var far_object_merger_sync_queue_size)"/>
   </include>
 </launch>

From 8d14fdf1eddfa36525d42d3ba7479d5205e78b81 Mon Sep 17 00:00:00 2001
From: scepter914 <scepter914@gmail.com>
Date: Mon, 2 Oct 2023 16:45:46 +0900
Subject: [PATCH 08/11] fix conflict

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../camera_lidar_radar_fusion_based_detection.launch.xml   | 3 +--
 .../object_recognition/detection/detection.launch.xml      | 7 ++-----
 2 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index e22240970aa9c..a8b37808a75ad 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -102,8 +102,7 @@
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
         <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
         <arg name="output_clusters" value="clusters"/>
-        <arg name="use_pointcloud_map" value="false"/>
-        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
+        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       </include>
     </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 8023312cfcd93..a71eefc9b84b3 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -37,6 +37,8 @@
   <!-- Camera-LiDAR fusion parameters -->
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
+  <arg name="use_roi_based_cluster" default="false"/>
+  <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
 
   <!-- Camera-LiDAR-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
@@ -67,9 +69,6 @@
       <arg name="remove_unknown" value="$(var remove_unknown)"/>
       <arg name="trust_distance" value="$(var trust_distance)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <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="$(var radar_lanelet_filtering_range_param)"/>
     </include>
   </group>
@@ -112,8 +111,6 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
     </include>

From af3d9583285ed9e7cc3eda3ca9ffd4256b3e9aeb Mon Sep 17 00:00:00 2001
From: scepter914 <scepter914@gmail.com>
Date: Tue, 3 Oct 2023 11:47:04 +0900
Subject: [PATCH 09/11] fix conflict

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 ...ar_radar_fusion_based_detection.launch.xml | 35 +------------------
 1 file changed, 1 insertion(+), 34 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index a2f91ff765005..dc5efdc768582 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -188,45 +188,12 @@
           <arg name="input/image5" value="$(var image_raw5)"/>
           <arg name="input/image6" value="$(var image_raw6)"/>
           <arg name="input/image7" value="$(var image_raw7)"/>
-          <arg name="output/clusters" value="euclidean_cluster/clusters"/>
+          <arg name="output/clusters" value="clusters"/>
           <arg name="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="trust_distance" value="$(var trust_distance)"/>
         </include>
       </group>
 
-      <!-- roi based clustering -->
-      <group>
-        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
-          <arg name="input/camera_info0" value="$(var camera_info0)"/>
-          <arg name="input/rois0" value="$(var detection_rois0)"/>
-          <arg name="input/camera_info1" value="$(var camera_info1)"/>
-          <arg name="input/rois1" value="$(var detection_rois1)"/>
-          <arg name="input/camera_info2" value="$(var camera_info2)"/>
-          <arg name="input/rois2" value="$(var detection_rois2)"/>
-          <arg name="input/camera_info3" value="$(var camera_info3)"/>
-          <arg name="input/rois3" value="$(var detection_rois3)"/>
-          <arg name="input/camera_info4" value="$(var camera_info4)"/>
-          <arg name="input/rois4" value="$(var detection_rois4)"/>
-          <arg name="input/camera_info5" value="$(var camera_info5)"/>
-          <arg name="input/rois5" value="$(var detection_rois5)"/>
-          <arg name="input/camera_info6" value="$(var camera_info6)"/>
-          <arg name="input/rois6" value="$(var detection_rois6)"/>
-          <arg name="input/camera_info7" value="$(var camera_info7)"/>
-          <arg name="input/rois7" value="$(var detection_rois7)"/>
-          <arg name="input/rois_number" value="$(var image_number)"/>
-          <arg name="input/image0" value="$(var image_raw0)"/>
-          <arg name="input/image1" value="$(var image_raw1)"/>
-          <arg name="input/image2" value="$(var image_raw2)"/>
-          <arg name="input/image3" value="$(var image_raw3)"/>
-          <arg name="input/image4" value="$(var image_raw4)"/>
-          <arg name="input/image5" value="$(var image_raw5)"/>
-          <arg name="input/image6" value="$(var image_raw6)"/>
-          <arg name="input/image7" value="$(var image_raw7)"/>
-          <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-          <arg name="output_clusters" value="roi_cluster/clusters"/>
-        </include>
-      </group>
-
       <!-- simple_cluster_merger -->
       <group>
         <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">

From 7f88d81e5846fdabbe9af571680a9268207c98a9 Mon Sep 17 00:00:00 2001
From: scepter914 <scepter914@gmail.com>
Date: Tue, 3 Oct 2023 13:33:58 +0900
Subject: [PATCH 10/11] fix conflict

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 ...amera_lidar_radar_fusion_based_detection.launch.xml | 10 +---------
 1 file changed, 1 insertion(+), 9 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index dc5efdc768582..af4d5df8dd441 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -194,21 +194,13 @@
         </include>
       </group>
 
-      <!-- simple_cluster_merger -->
-      <group>
-        <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
-          <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
-          <arg name="input/cluster1" value="roi_cluster/clusters"/>
-          <arg name="output/clusters" value="clusters"/>
-        </include>
-      </group>
-
       <group>
         <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
           <arg name="input/objects" value="clusters"/>
           <arg name="output/objects" value="objects_with_feature"/>
         </include>
       </group>
+
       <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
       <group>
         <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">

From dd310bc73f9fa7d7fc8cb5cb59a2df809084ca07 Mon Sep 17 00:00:00 2001
From: scepter914 <scepter914@gmail.com>
Date: Thu, 5 Oct 2023 16:17:59 +0900
Subject: [PATCH 11/11] fix conflict

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../camera_lidar_radar_fusion_based_detection.launch.xml         | 1 +
 .../launch/object_recognition/detection/detection.launch.xml     | 1 +
 2 files changed, 2 insertions(+)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index af4d5df8dd441..0c50dcb0f1467 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -16,6 +16,7 @@
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
+  <arg name="use_roi_based_cluster" default="false"/>
 
   <!-- Camera parameters -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 33d63d5e07b8e..d0ab687994a1d 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -65,6 +65,7 @@
       <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)"/>
     </include>