From b422b3c65bc25d7e71c1143c566e1f3565315fea Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Date: Wed, 7 Feb 2024 01:36:00 +0900
Subject: [PATCH] feat(traffic_light_recognition): add tlr args in
 tier4_perception_component.launch.xml (#840)

* feat(traffic_light_recognition): add tlr args in tier4_perception_component.launch.xml

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* fix dfault value of fusion_only to false

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* fix arg passing way

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

---------

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
---
 .../launch/components/tier4_perception_component.launch.xml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index a84911a414..3519d5780d 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -14,7 +14,6 @@
     <arg name="mode" value="$(var perception_mode)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
@@ -156,6 +155,11 @@
     <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="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+    <arg name="traffic_light_recognition/fusion_only" value="false"/>
+    <arg name="traffic_light_image_number" value="1"/>
+
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
     <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
     <arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>