From fac01c5df25201cf35eed887f857f5ae5dfd8779 Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Date: Tue, 20 Aug 2024 15:18:09 +0900
Subject: [PATCH] feat(tier4_perception_launch): add transfusion option for
 lidar_detection_model (#1124) (#552)

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
---
 .../launch/components/tier4_perception_component.launch.xml      | 1 +
 1 file changed, 1 insertion(+)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index e13b987607..1335a1e47d 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -13,6 +13,7 @@
     description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
   />
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>