From d38beae3097fe614806f0b900b7b6417291c5c10 Mon Sep 17 00:00:00 2001
From: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Date: Tue, 17 Oct 2023 17:27:32 +0900
Subject: [PATCH] fix(tracking_object_merger): fix unintended error in radar
 tracking merger (#5328)

* fix: fix tracking merger node

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* fix: unintended condition setting

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
---
 .../camera_lidar_radar_fusion_based_detection.launch.xml      | 2 +-
 .../include/tracking_object_merger/utils/utils.hpp            | 4 ++++
 2 files changed, 5 insertions(+), 1 deletion(-)

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 7d0988635fb10..07640495a5e19 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
@@ -411,7 +411,7 @@
 
   <!-- Merge far_objects and near_objects in detection stage.
       Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
-  <group if="$(var use_radar_tracking_fusion)">
+  <group unless="$(var use_radar_tracking_fusion)">
     <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"/>
diff --git a/perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp b/perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp
index 013040d15bded..bc6dfef9b80bf 100644
--- a/perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp
+++ b/perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp
@@ -27,8 +27,12 @@
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
 #include <geometry_msgs/msg/polygon.hpp>
 #include <geometry_msgs/msg/vector3.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Transform.h>
+#include <tf2/convert.h>
+#include <tf2/transform_datatypes.h>
 #include <tf2/utils.h>
 
 #include <cmath>