From 4bfb753eb42d0f7954578954b62614314d05c6e7 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Thu, 12 Dec 2024 14:16:24 +0900
Subject: [PATCH] refactor(tier4_perception_launch): refactoring detection
 launchers (#9611)

* feat: Update object detection launch files to include input and output arguments

The object detection launch files have been updated to include input and output arguments for better flexibility and modularity. This allows for easier integration with other components and improves the overall performance of the system.

```

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: Update object detection launch files to include input and output arguments

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: Update object detection launch files for better readability

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Update object detection launch files to include clustering output argument

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: pass ns argument to the lidar_rule_detector

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: make euclidean_cluster not to use use_pointcloud_container and mark explicitly

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml            | 55 +++++++-----
 .../detector/camera_lidar_detector.launch.xml | 83 ++++++++++++-------
 .../detector/lidar_rule_detector.launch.xml   | 25 ++++--
 .../tracker_based_detector.launch.xml         |  6 ++
 .../launch/perception.launch.xml              |  2 +-
 5 files changed, 112 insertions(+), 59 deletions(-)

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 499cf3c192164..912a7f3e48f41 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
@@ -47,37 +47,40 @@
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
   <arg name="input/radar"/>
-
+  <arg name="input/tracked_objects" default="/perception/object_recognition/tracking/objects"/>
   <arg name="output/objects" default="objects"/>
 
   <!-- internal interfaces -->
-  <arg name="pointcloud_filter/output/pointcloud" default="$(var ns)/pointcloud_map_filtered/pointcloud"/>
-  <arg name="lidar_ml_detector/output/objects" default="$(var ns)/$(var lidar_detection_model_type)/objects"/>
-  <arg name="lidar_rule_detector/output/objects" default="$(var ns)/clustering/objects"/>
-  <arg name="camera_lidar_rule_detector/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/objects"/>
-  <arg name="tracker_based_detector/output/objects" default="$(var ns)/detection_by_tracker/objects"/>
-  <arg name="lidar_object_filter/output/objects" default="$(var ns)/$(var lidar_detection_model_type)/validation/objects"/>
-  <arg name="camera_lidar_object_filter/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/filtered/objects"/>
-  <arg name="radar_pipeline/output/objects" default="$(var ns)/radar/far_objects"/>
-  <arg name="radar_object_filter/output/objects" default="$(var ns)/radar/far_objects"/>
+  <let name="pointcloud_filter/output/pointcloud" value="$(var ns)/pointcloud_map_filtered/pointcloud"/>
+  <let name="lidar_ml_detector/output/objects" value="$(var ns)/$(var lidar_detection_model_type)/objects"/>
+  <let name="lidar_rule_detector/output/cluster_objects" value="$(var ns)/clustering/objects_with_feature"/>
+  <let name="lidar_rule_detector/output/objects" value="$(var ns)/clustering/objects"/>
+  <let name="camera_lidar_rule_detector/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects"/>
+  <let name="camera_lidar_rule_detector/output/cluster_objects" value="$(var ns)/clustering/objects_with_feature"/>
+  <let name="tracker_based_detector/input/clusters" value="$(var ns)/clustering/objects_with_feature"/>
+  <let name="tracker_based_detector/output/objects" value="$(var ns)/detection_by_tracker/objects"/>
+  <let name="lidar_object_filter/output/objects" value="$(var ns)/$(var lidar_detection_model_type)/validation/objects"/>
+  <let name="camera_lidar_object_filter/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/filtered/objects"/>
+  <let name="radar_pipeline/output/objects" value="$(var ns)/radar/far_objects"/>
+  <let name="radar_object_filter/output/objects" value="$(var ns)/radar/far_objects"/>
 
   <!-- Module switching -->
-  <arg name="switch/detector/camera_lidar" default="false"/>
-  <arg name="switch/detector/lidar_dnn" default="false"/>
-  <arg name="switch/detector/lidar_rule" default="false"/>
-  <arg name="switch/detector/radar" default="false"/>
-  <arg name="switch/detector/radar_only" default="false"/>
-  <arg name="switch/detector/tracker_based" default="false"/>
+  <let name="switch/detector/camera_lidar" value="false"/>
+  <let name="switch/detector/lidar_dnn" value="false"/>
+  <let name="switch/detector/lidar_rule" value="false"/>
+  <let name="switch/detector/radar" value="false"/>
+  <let name="switch/detector/radar_only" value="false"/>
+  <let name="switch/detector/tracker_based" value="false"/>
   <let name="switch/detector/tracker_based" value="true" if="$(var use_detection_by_tracker)"/>
 
-  <arg name="switch/filter/pointcloud" default="false"/>
-  <arg name="switch/filter/camera_lidar_object" default="false"/>
-  <arg name="switch/filter/lidar_object" default="false"/>
+  <let name="switch/filter/pointcloud" value="false"/>
+  <let name="switch/filter/camera_lidar_object" value="false"/>
+  <let name="switch/filter/lidar_object" value="false"/>
 
-  <arg name="switch/merger/camera_lidar_radar" default="false"/>
-  <arg name="switch/merger/camera_lidar" default="false"/>
-  <arg name="switch/merger/lidar_radar" default="false"/>
-  <arg name="switch/merger/lidar" default="false"/>
+  <let name="switch/merger/camera_lidar_radar" value="false"/>
+  <let name="switch/merger/camera_lidar" value="false"/>
+  <let name="switch/merger/lidar_radar" value="false"/>
+  <let name="switch/merger/lidar" value="false"/>
 
   <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
     <let name="switch/filter/pointcloud" value="true"/>
@@ -129,6 +132,7 @@
   <group if="$(var switch/detector/camera_lidar)">
     <!-- Camera-Lidar detectors -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
+      <arg name="ns" value="$(var ns)"/>
       <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
       <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
@@ -159,6 +163,7 @@
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output/ml_detector/objects" value="$(var lidar_ml_detector/output/objects)"/>
       <arg name="output/rule_detector/objects" value="$(var camera_lidar_rule_detector/output/objects)"/>
+      <arg name="output/clustering/cluster_objects" value="$(var camera_lidar_rule_detector/output/cluster_objects)"/>
       <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model_type" value="$(var lidar_detection_model_type)"/>
       <arg name="lidar_detection_model_name" value="$(var lidar_detection_model_name)"/>
@@ -182,9 +187,11 @@
   <group if="$(var switch/detector/lidar_rule)">
     <!-- Lidar rule-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
+      <arg name="ns" value="$(var ns)"/>
       <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="input/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="output/cluster_objects" value="$(var lidar_rule_detector/output/cluster_objects)"/>
       <arg name="output/objects" value="$(var lidar_rule_detector/output/objects)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     </include>
@@ -217,6 +224,8 @@
   <!-- DetectionByTracker -->
   <group if="$(var switch/detector/tracker_based)">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+      <arg name="input/clusters" value="$(var tracker_based_detector/input/clusters)"/>
+      <arg name="input/tracked_objects" value="$(var input/tracked_objects)"/>
       <arg name="output/objects" value="$(var tracker_based_detector/output/objects)"/>
       <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index e06682853d956..da30500070850 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -1,5 +1,8 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Current namespace -->
+  <arg name="ns" description="current namespace"/>
+
   <!-- Lidar + Camera detector parameters -->
   <arg name="lidar_detection_model_type" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
   <arg name="lidar_detection_model_name" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
@@ -41,6 +44,35 @@
 
   <arg name="output/ml_detector/objects"/>
   <arg name="output/rule_detector/objects"/>
+  <arg name="output/clustering/cluster_objects"/>
+
+  <!-- Internal interfaces -->
+  <let name="pointpainting/input/pointcloud" value="$(var input/pointcloud)"/>
+  <let name="pointpainting/output/objects" value="$(var output/ml_detector/objects)"/>
+
+  <let name="segmentation_based_filtered/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+  <let name="segmentation_based_filtered/output/pointcloud" value="$(var ns)/segmentation_based_filtered/pointcloud"/>
+
+  <let name="euclidean_cluster/input/pointcloud" value="$(var segmentation_based_filtered/output/pointcloud)" if="$(var use_image_segmentation_based_filter)"/>
+  <let name="euclidean_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
+  <let name="clustering/clusters" value="$(var ns)/clustering/clusters"/>
+  <let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
+  <let name="euclidean_cluster/output/clusters" value="$(var clustering/clusters)" unless="$(var use_roi_based_cluster)"/>
+  <let name="roi_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+  <let name="roi_cluster/output/clusters" value="$(var ns)/clustering/roi_cluster/clusters"/>
+  <let name="roi_merged_cluster/output/clusters" value="$(var clustering/clusters)"/>
+  <let name="shape_estimation1/input/clusters" value="$(var clustering/clusters)"/>
+  <let name="shape_estimation1/output/objects" value="$(var output/clustering/cluster_objects)"/>
+
+  <let name="roi_cluster_fusion/input/clusters" value="$(var ns)/clustering/clusters"/>
+  <let name="roi_cluster_fusion/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/clusters"/>
+  <let name="low_intensity_cluster_filter/input/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
+  <let name="low_intensity_cluster_filter/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/filtered/clusters"/>
+  <let name="shape_estimation2/input/clusters" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
+  <let name="shape_estimation2/input/clusters" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>
+  <let name="shape_estimation2/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects_with_feature"/>
+  <let name="detected_object_feature_remover/input/objects_with_feature" value="$(var shape_estimation2/output/objects)"/>
+  <let name="detected_object_feature_remover/output/objects" value="$(var output/rule_detector/objects)"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share autoware_tensorrt_yolox)/launch/multiple_yolox.launch.xml">
@@ -85,8 +117,8 @@
       <arg name="input/image5" value="$(var input/camera5/image)"/>
       <arg name="input/image6" value="$(var input/camera6/image)"/>
       <arg name="input/image7" value="$(var input/camera7/image)"/>
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="$(var output/ml_detector/objects)"/>
+      <arg name="input/pointcloud" value="$(var pointpainting/input/pointcloud)"/>
+      <arg name="output/objects" value="$(var pointpainting/output/objects)"/>
 
       <arg name="model_name" value="$(var lidar_detection_model_name)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
@@ -101,8 +133,8 @@
   <!-- Image_segmentation based filter, apply for camera0 only-->
   <group>
     <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/segmentation_pointcloud_fusion.launch.xml" if="$(var use_image_segmentation_based_filter)">
-      <arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-      <arg name="output/pointcloud" value="/perception/object_recognition/detection/segmentation_based_filtered/pointcloud"/>
+      <arg name="input/pointcloud" value="$(var segmentation_based_filtered/input/pointcloud)"/>
+      <arg name="output/pointcloud" value="$(var segmentation_based_filtered/output/pointcloud)"/>
     </include>
   </group>
 
@@ -110,14 +142,11 @@
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
-      <let name="euclidean_cluster_input" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
-      <let name="euclidean_cluster_input" value="/perception/object_recognition/detection/segmentation_based_filtered/pointcloud" if="$(var use_image_segmentation_based_filter)"/>
-      <let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
-      <let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
       <include file="$(find-pkg-share autoware_euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var euclidean_cluster_input)"/>
-        <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
+        <arg name="input_pointcloud" value="$(var euclidean_cluster/input/pointcloud)"/>
+        <arg name="output_clusters" value="$(var euclidean_cluster/output/clusters)"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+        <arg name="use_pointcloud_container" value="false"/>
       </include>
     </group>
 
@@ -151,8 +180,8 @@
           <arg name="input/image5" value="$(var input/camera5/image)"/>
           <arg name="input/image6" value="$(var input/camera6/image)"/>
           <arg name="input/image7" value="$(var input/camera7/image)"/>
-          <arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-          <arg name="output_clusters" value="clusters"/>
+          <arg name="input/pointcloud" value="$(var roi_cluster/input/pointcloud)"/>
+          <arg name="output_clusters" value="$(var roi_cluster/output/clusters)"/>
           <arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
         </include>
       </group>
@@ -161,21 +190,21 @@
     <!-- simple_cluster_merger -->
     <group>
       <include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
-        <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
-        <arg name="input/cluster1" value="roi_cluster/clusters"/>
-        <arg name="output/clusters" value="clusters"/>
+        <arg name="input/cluster0" value="$(var euclidean_cluster/output/clusters)"/>
+        <arg name="input/cluster1" value="$(var roi_cluster/output/clusters)"/>
+        <arg name="output/clusters" value="$(var roi_merged_cluster/output/clusters)"/>
       </include>
     </group>
 
+    <!-- shape_estimation 1 -->
     <group>
       <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
+        <arg name="input/objects" value="$(var shape_estimation1/input/clusters)"/>
+        <arg name="output/objects" value="$(var shape_estimation1/output/objects)"/>
       </include>
     </group>
 
     <group>
-      <let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
       <push-ros-namespace namespace="camera_lidar_fusion"/>
       <!-- Fusion camera-lidar to classify -->
 
@@ -207,8 +236,8 @@
           <arg name="input/image5" value="$(var input/camera5/image)"/>
           <arg name="input/image6" value="$(var input/camera6/image)"/>
           <arg name="input/image7" value="$(var input/camera7/image)"/>
-          <arg name="input/clusters" value="$(var input/clustering)"/>
-          <arg name="output/clusters" value="clusters"/>
+          <arg name="input/clusters" value="$(var roi_cluster_fusion/input/clusters)"/>
+          <arg name="output/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
           <arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
         </include>
       </group>
@@ -216,24 +245,22 @@
       <!-- low_intensity_cluster_filter -->
       <group>
         <include file="$(find-pkg-share autoware_raindrop_cluster_filter)/launch/low_intensity_cluster_filter.launch.xml" if="$(var use_low_intensity_cluster_filter)">
-          <arg name="input/objects" value="clusters"/>
-          <arg name="output/objects" value="filtered/clusters"/>
+          <arg name="input/objects" value="$(var low_intensity_cluster_filter/input/clusters)"/>
+          <arg name="output/objects" value="$(var low_intensity_cluster_filter/output/clusters)"/>
         </include>
       </group>
 
       <group>
-        <let name="shape_estimation/input" value="filtered/clusters" if="$(var use_low_intensity_cluster_filter)"/>
-        <let name="shape_estimation/input" value="clusters" unless="$(var use_low_intensity_cluster_filter)"/>
         <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
-          <arg name="input/objects" value="$(var shape_estimation/input)"/>
-          <arg name="output/objects" value="objects_with_feature"/>
+          <arg name="input/objects" value="$(var shape_estimation2/input/clusters)"/>
+          <arg name="output/objects" value="$(var shape_estimation2/output/objects)"/>
         </include>
       </group>
       <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
       <group>
         <include file="$(find-pkg-share autoware_detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-          <arg name="input" value="objects_with_feature"/>
-          <arg name="output" value="$(var output/rule_detector/objects)"/>
+          <arg name="input" value="$(var detected_object_feature_remover/input/objects_with_feature)"/>
+          <arg name="output" value="$(var detected_object_feature_remover/output/objects)"/>
         </include>
       </group>
     </group>
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
index 76ed8ad5b2700..50cde24473d2c 100644
--- 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
@@ -1,20 +1,31 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Current namespace -->
+  <arg name="ns" description="current namespace"/>
+
   <!-- External interfaces -->
   <arg name="node/pointcloud_container"/>
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
+  <arg name="output/cluster_objects"/>
   <arg name="output/objects"/>
 
+  <!-- Internal interfaces -->
+  <let name="euclidean_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+  <let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/clusters"/>
+  <let name="shape_estimation/input/objects" value="$(var ns)/clustering/clusters"/>
+  <let name="shape_estimation/output/objects" value="$(var output/cluster_objects)"/>
+  <let name="detected_object_feature_remover/input" value="$(var output/cluster_objects)"/>
+  <let name="detected_object_feature_remover/output" value="$(var output/objects)"/>
+
   <!-- Clustering -->
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
       <include file="$(find-pkg-share autoware_euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-        <arg name="output_clusters" value="clusters"/>
+        <arg name="input_pointcloud" value="$(var euclidean_cluster/input/pointcloud)"/>
+        <arg name="output_clusters" value="$(var euclidean_cluster/output/clusters)"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-
         <arg name="use_pointcloud_container" value="true"/>
         <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       </include>
@@ -22,16 +33,16 @@
 
     <group>
       <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
+        <arg name="input/objects" value="$(var shape_estimation/input/objects)"/>
+        <arg name="output/objects" value="$(var shape_estimation/output/objects)"/>
       </include>
     </group>
 
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <group>
       <include file="$(find-pkg-share autoware_detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="$(var output/objects)"/>
+        <arg name="input" value="$(var detected_object_feature_remover/input)"/>
+        <arg name="output" value="$(var detected_object_feature_remover/output)"/>
       </include>
     </group>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
index 754542f65b0ba..286bd43a8cc1e 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
@@ -1,11 +1,17 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- External interfaces -->
+  <arg name="input/clusters"/>
+  <arg name="input/tracked_objects"/>
   <arg name="output/objects"/>
+
   <!-- DetectionByTracker -->
   <group>
     <push-ros-namespace namespace="detection_by_tracker"/>
     <include file="$(find-pkg-share autoware_detection_by_tracker)/launch/detection_by_tracker.launch.xml">
       <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      <arg name="input/initial_objects" value="$(var input/clusters)"/>
+      <arg name="input/tracked_objects" value="$(var input/tracked_objects)"/>
       <arg name="output" value="$(var output/objects)"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 83c7c202e8c0a..02a34eab8fe9a 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -77,7 +77,7 @@
   <arg name="image_number" default="6" description="choose image raw number(1-8)"/>
   <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
+  <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in the euclidean clustering"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
   <arg name="use_roi_based_cluster" default="true" description="use roi_based_cluster in clustering"/>