From 936976be52d656af4f4e48909df4bced567b5b3c Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Tue, 23 Jan 2024 15:52:44 +0900
Subject: [PATCH] refactor: lidar detector modules

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml            |  48 ++++---
 .../camera_lidar_detector.launch.xml}         | 132 ++++++------------
 .../lidar_dnn_detector.launch.xml}            |  55 --------
 .../detector/lidar_rule_detector.launch.xml   |  55 ++++++++
 .../lidar_radar_based_detection.launch.xml    |  43 ------
 5 files changed, 124 insertions(+), 209 deletions(-)
 rename launch/tier4_perception_launch/launch/object_recognition/detection/{camera_lidar_fusion_based_detection.launch.xml => detector/camera_lidar_detector.launch.xml} (83%)
 rename launch/tier4_perception_launch/launch/object_recognition/detection/{lidar_based_detection.launch.xml => detector/lidar_dnn_detector.launch.xml} (51%)
 create mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
 delete mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml

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 8abe5ff054a2f..b6188c2af94c4 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
@@ -37,7 +37,7 @@
   <!-- Camera-Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
     <!-- Camera-Lidar detectiors -->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
@@ -64,6 +64,11 @@
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
+    <!-- LiDAR dnn-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+    </include>
     <!-- Radar detector-->
     <group>
       <push-ros-namespace namespace="radar"/>
@@ -107,7 +112,7 @@
   <!-- Camera-Lidar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
     <!-- Camera-Lidar detectiors -->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
@@ -134,6 +139,11 @@
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
+    <!-- LiDAR dnn-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+    </include>
     <!-- Object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
       <arg name="image_raw0" value="$(var image_raw0)"/>
@@ -171,18 +181,18 @@
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
       </include>
     </group>
-    <!-- LiDAR detectors-->
-    <group>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="lidar/objects"/>
-        <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-        <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      </include>
-    </group>
+    <!-- LiDAR dnn-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+    </include>
+    <!-- LiDAR rule-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
     <!-- Lidar object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
       <arg name="output/objects" value="lidar/objects"/>
@@ -200,15 +210,17 @@
 
   <!-- Lidar based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
-    <!-- LiDAR detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
+    <!-- LiDAR dnn-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+    </include>
+    <!-- LiDAR rule-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
     <!-- Lidar object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
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/detector/camera_lidar_detector.launch.xml
similarity index 83%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
rename to launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 836d2a66976d6..06d44bea3cdb1 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/detector/camera_lidar_detector.launch.xml
@@ -1,25 +1,15 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface parameters -->
-  <arg name="output/objects" default="objects"/>
-
   <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
 
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="lidar_detection_score_threshold" default="0.35"/>
-
   <!-- Lidar + Camera detector parameters -->
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_roi_based_cluster" default="false"/>
 
-  <!-- LiDAR detector centerpoint parameters -->
-  <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
-  <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
-  <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
-
   <!-- 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"/>
@@ -60,6 +50,44 @@
     <arg name="image_number" value="$(var image_number)"/>
   </include> -->
 
+  <!-- PointPainting -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
+    <push-ros-namespace namespace="pointpainting"/>
+    <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
+      <arg name="input/camera_info0" value="$(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="$(var input/pointcloud)"/>
+      <arg name="output/objects" value="objects"/>
+      <arg name="model_name" value="$(var lidar_detection_model)"/>
+      <arg name="model_path" value="$(var pointpainting_model_path)"/>
+      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
+      <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+    </include>
+  </group>
+
   <!-- Pointcloud filter -->
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
@@ -198,86 +226,4 @@
       <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
     </include>
   </group>
-
-  <!-- CenterPoint -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
-    <push-ros-namespace namespace="centerpoint"/>
-    <group>
-      <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="$(var lidar_detection_score_threshold)"/>
-        <arg name="model_name" value="$(var centerpoint_model_name)"/>
-        <arg name="model_path" value="$(var centerpoint_model_path)"/>
-        <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
-        <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- Lidar Apollo Instance Segmentation -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
-    <push-ros-namespace namespace="apollo"/>
-    <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="labeled_clusters"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="labeled_clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_vehicle_reference_yaw" value="true"/>
-        <arg name="use_vehicle_reference_shape_size" value="false"/>
-      </include>
-    </group>
-
-    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-    <group>
-      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- PointPainting -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
-    <push-ros-namespace namespace="pointpainting"/>
-    <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(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="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="objects"/>
-      <arg name="model_name" value="$(var lidar_detection_model)"/>
-      <arg name="model_path" value="$(var pointpainting_model_path)"/>
-      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
-      <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
-    </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/detector/lidar_dnn_detector.launch.xml
similarity index 51%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
rename to launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index ddfb14d55f04f..aef9ff12374e9 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -1,14 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface parameters -->
-  <arg name="output/objects" default="objects"/>
-
   <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
 
@@ -17,54 +10,6 @@
   <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
   <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
 
-  <!-- Pointcloud filter -->
-  <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
-      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
-      <arg name="use_intra_process" value="true"/>
-      <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    </include>
-  </group>
-
-  <!-- Clustering -->
-  <group>
-    <push-ros-namespace namespace="clustering"/>
-    <group>
-      <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-        <arg name="output_clusters" value="clusters"/>
-        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(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="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- DetectionByTracker -->
-  <group if="$(var use_detection_by_tracker)">
-    <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
-      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-    </include>
-  </group>
-
   <!-- CenterPoint -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
new file mode 100644
index 0000000000000..c2d7c24254a15
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- LiDAR parameters -->
+  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+
+  <!-- Pointcloud filter -->
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
+      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
+      <arg name="use_intra_process" value="true"/>
+      <arg name="use_multithread" value="true"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+    </include>
+  </group>
+
+  <!-- Clustering -->
+  <group>
+    <push-ros-namespace namespace="clustering"/>
+    <group>
+      <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
+        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+        <arg name="output_clusters" value="clusters"/>
+        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      </include>
+    </group>
+
+    <group>
+      <include file="$(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="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+        <arg name="input" value="objects_with_feature"/>
+        <arg name="output" value="objects"/>
+      </include>
+    </group>
+  </group>
+
+  <!-- DetectionByTracker -->
+  <group if="$(var use_detection_by_tracker)">
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+    </include>
+  </group>
+</launch>
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
deleted file mode 100644
index 49268531821a3..0000000000000
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- LiDAR parameters -->
-  <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="lidar_detection_score_threshold" default="0.35"/>
-
-  <!-- Radar parameters -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
-  <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
-
-  <!-- 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)"/>
-      <arg name="output/objects" value="lidar/objects"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
-    </include>
-  </group>
-
-  <!-- Radar detection-->
-  <group>
-    <push-ros-namespace namespace="radar"/>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="output/objects" value="far_objects"/>
-      <arg name="filter/angle_threshold" value="1.0472"/>
-      <arg name="filter/velocity_threshold" value="3.0"/>
-      <arg name="split/velocity_threshold" value="4.5"/>
-      <arg name="split_range" value="70.0"/>
-      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
-      <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
-    </include>
-  </group>
-</launch>