From 3510ee4c0d8110bd9002b93755ac8fb9d0f78fe9 Mon Sep 17 00:00:00 2001
From: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 28 Apr 2022 08:04:08 +0900
Subject: [PATCH] Use ray-maching by default

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

diff --git a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
index 8f799f277f7a7..0d17feffed21f 100644
--- a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
+++ b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
@@ -18,7 +18,7 @@
         <param name="detection_successful_rate" value="0.999"/>
         <param name="enable_ray_tracing" value="false"/>
         <param name="use_object_recognition" value="$(var use_object_recognition)"/>
-        <param name="object_centric_pointcloud" value="true"/>
+        <param name="object_centric_pointcloud" value="false"/>
       </node>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="input/objects" value="/perception/object_recognition/detection/labeled_clusters"/>