From 72ffee8b6a5b1d7636188c540a1191029c68773b Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Thu, 18 Nov 2021 18:02:00 +0900
Subject: [PATCH] Auto/launcher ground segmentation (#117)

* add base line launch

* add ground_segmentation launcher

* run pre-commit

* clean up

* fix coding style

* fix topic name

* fix yaml params

* fix loader name

* rename components

* improve implementation
---
 launch/autoware_launch/launch/autoware.launch.xml          | 2 ++
 launch/autoware_launch/launch/logging_simulator.launch.xml | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/launch/autoware_launch/launch/autoware.launch.xml b/launch/autoware_launch/launch/autoware.launch.xml
index cd969f1d6f8a2..749881c9373fa 100644
--- a/launch/autoware_launch/launch/autoware.launch.xml
+++ b/launch/autoware_launch/launch/autoware.launch.xml
@@ -48,6 +48,8 @@
   <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
     <!-- options for mode: camera_lidar_fusion, lidar, camera -->
     <arg name="mode" value="camera_lidar_fusion" />
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
   </include>
 
   <!-- Planning -->
diff --git a/launch/autoware_launch/launch/logging_simulator.launch.xml b/launch/autoware_launch/launch/logging_simulator.launch.xml
index dbc45ed714b6e..612258a334639 100644
--- a/launch/autoware_launch/launch/logging_simulator.launch.xml
+++ b/launch/autoware_launch/launch/logging_simulator.launch.xml
@@ -74,6 +74,8 @@
     <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
       <!-- options for mode: camera_lidar_fusion, lidar, camera -->
       <arg name="mode" value="camera_lidar_fusion" />
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
     </include>
   </group>