fix: lidar_model_param_path (autowarefoundation#388)

* fix: lidar_model_param_path * chore: move * chore: delete unused param
badai-nguyen · Sep 13, 2023 · 9307c86 · 9307c86
1 parent 34d2daf
commit 9307c86
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Showing 3 changed files with 2 additions and 5 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -41,7 +41,6 @@
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
-  <arg name="centerpoint_model_param_path" default="/opt/autoware/mlmodels/centerpoint/aip_x2.param.yaml" description="path of centerpoint parameter file"/>
 
   <!-- Global parameters -->
   <group scoped="false">

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -21,7 +21,7 @@
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
     <arg name="centerpoint_model_name" value="aip_x2"/>
     <arg name="centerpoint_model_path" value="$(var centerpoint_model_path)"/>
-    <arg name="centerpoint_model_param_path" value="$(var centerpoint_model_param_path)"/>
+    <arg name="object_recognition_detection_lidar_model_param_path" value="$(var centerpoint_model_path)"/>
     <arg name="traffic_light_recognition/fusion_only" value="true"/>
     <arg name="namespace1" value="camera7"/>
     <arg name="remove_unknown" value="false"/>
@@ -71,7 +71,7 @@
       name="object_recognition_detection_object_merger_distance_threshold_list_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
     />
-    <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
+    <!-- <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/> -->
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -33,7 +33,6 @@
   <arg name="scenario_simulation" default="true" description="use scenario simulation"/>
   <!-- Perception -->
   <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
-  <arg name="centerpoint_model_param_path" default="/opt/autoware/mlmodels/centerpoint/aip_x2.param.yaml" description="path of centerpoint parameter file"/>
 
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
@@ -69,7 +68,6 @@
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception -->
       <arg name="centerpoint_model_path" value="$(var centerpoint_model_path)"/>
-      <arg name="centerpoint_model_param_path" value="$(var centerpoint_model_param_path)"/>
       <!-- V2X -->
       <arg name="launch_v2x" value="false"/>
     </include>