From d8d35cdea210cf818866500e5dd851301b31b7ea Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 8 May 2024 13:02:43 +0900
Subject: [PATCH] fix: launcher to set input channels

---
 .../launch/object_recognition/tracking/tracking.launch.xml      | 2 ++
 launch/tier4_perception_launch/launch/perception.launch.xml     | 1 +
 2 files changed, 3 insertions(+)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
index fed268084792a..cf11c65ac805c 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -17,6 +17,7 @@
     <!--multi object tracking-->
     <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
       <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
+      <arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
       <arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
     </include>
   </group>
@@ -26,6 +27,7 @@
     <!--multi object tracking for near objects-->
     <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
       <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
+      <arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
       <arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
       <arg name="output" value="/perception/object_recognition/tracking/near_objects"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 822376b365fa8..fb7a5549e4e35 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -22,6 +22,7 @@
   <arg name="object_recognition_detection_object_range_splitter_radar_param_path"/>
   <arg name="object_recognition_detection_object_range_splitter_radar_fusion_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
+  <arg name="object_recognition_tracking_multi_object_tracker_input_channels_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_node_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"/>