From 328aec77d2e8e74f6a1ed073fafc641b31fc8c91 Mon Sep 17 00:00:00 2001
From: MasatoSaeki <masato.saeki@tier4.jp>
Date: Wed, 2 Oct 2024 12:28:19 +0900
Subject: [PATCH 1/4] add arguments

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
---
 .../launch/components/tier4_perception_component.launch.xml      | 1 +
 1 file changed, 1 insertion(+)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 105b49a2d9..8ad9af5ad4 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -20,6 +20,7 @@
   <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">

From 8e471f8112b5d3a4ff477c9a09aef7519d0a8537 Mon Sep 17 00:00:00 2001
From: MasatoSaeki <masato.saeki@tier4.jp>
Date: Wed, 2 Oct 2024 13:18:41 +0900
Subject: [PATCH 2/4] adopt transfusion

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
---
 .../launch/components/tier4_perception_component.launch.xml      | 1 +
 1 file changed, 1 insertion(+)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 8ad9af5ad4..dd88409a99 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -21,6 +21,7 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`"/>
+  <arg name="transfusion_model_name" default="transfusion" description="options: `transfusion`"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">

From 6b35e19c8309693377d3a4d48684bd9a13da9025 Mon Sep 17 00:00:00 2001
From: MasatoSaeki <masato.saeki@tier4.jp>
Date: Thu, 3 Oct 2024 18:18:00 +0900
Subject: [PATCH 3/4] add lidar_detection_model_type

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
---
 .../components/tier4_perception_component.launch.xml       | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index dd88409a99..1d089792cb 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -19,14 +19,15 @@
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
   <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`"/>
-  <arg name="transfusion_model_name" default="transfusion" description="options: `transfusion`"/>
+  <arg name="lidar_detection_model" default="aaa" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="lidar_detection_model_type" default="bbb" description="options: `default`, `tiny`, `sigma`"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- Options to Switch Launch Function/Module -->
     <arg name="mode" value="$(var perception_mode)"/>
+    <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+    <arg name="lidar_detection_model_type" value="$(var lidar_detection_model_type)"/>
     <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)"/>

From 7a9d406234f9c7eb189342348ea31e33cb93ed2c Mon Sep 17 00:00:00 2001
From: MasatoSaeki <masato.saeki@tier4.jp>
Date: Thu, 3 Oct 2024 18:50:33 +0900
Subject: [PATCH 4/4] integrate all in lidar_detection_model

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
---
 .../launch/components/tier4_perception_component.launch.xml   | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 1d089792cb..b9ce930e44 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -19,15 +19,13 @@
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
   <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="lidar_detection_model" default="aaa" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="lidar_detection_model_type" default="bbb" description="options: `default`, `tiny`, `sigma`"/>
+  <arg name="lidar_detection_model" default="centerpoint_tiny" description="options: `centerpoint*`, `transfusion*`, `apollo*`, `pointpainting*`, `clustering*`"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- Options to Switch Launch Function/Module -->
     <arg name="mode" value="$(var perception_mode)"/>
     <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-    <arg name="lidar_detection_model_type" value="$(var lidar_detection_model_type)"/>
     <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)"/>