From 265ab4e5d9f1087ac1a46f55b225d967f8a3b5b7 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 14 Sep 2023 11:13:00 +0900
Subject: [PATCH 1/8] fix: change downsample filter

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../detection/pointcloud_map_filter.launch.py                   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
index a5d8d2113d2d..2c0adcc4c7a7 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
@@ -94,7 +94,7 @@ def create_down_sample_pipeline(self):
         components.append(
             ComposableNode(
                 package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
+                plugin="pointcloud_preprocessor::ApproximateDownsampleFilterComponent",
                 name="voxel_grid_downsample_filter",
                 remappings=[
                     ("input", LaunchConfiguration("input_topic")),

From bbc05cdb104e8e33d8c9f1ff771c952b6d000000 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 14 Sep 2023 11:50:27 +0900
Subject: [PATCH 2/8] fix: remove downsamle after compare map

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../config/voxel_grid.param.yaml                |  7 -------
 ...voxel_grid_based_euclidean_cluster.launch.py | 17 +----------------
 2 files changed, 1 insertion(+), 23 deletions(-)
 delete mode 100644 perception/euclidean_cluster/config/voxel_grid.param.yaml

diff --git a/perception/euclidean_cluster/config/voxel_grid.param.yaml b/perception/euclidean_cluster/config/voxel_grid.param.yaml
deleted file mode 100644
index 3ff32bfbb714..000000000000
--- a/perception/euclidean_cluster/config/voxel_grid.param.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-/**:
-  ros__parameters:
-    input_frame: base_link
-    output_frame: base_link
-    voxel_size_x: 0.15
-    voxel_size_y: 0.15
-    voxel_size_z: 0.15
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index 82ce5605b67c..9371808b8899 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -122,19 +122,6 @@ def load_composable_node_param(param_path):
         ],
     )
 
-    # set voxel grid filter as a component
-    voxel_grid_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::ApproximateDownsampleFilterComponent",
-        name=AnonName("voxel_grid_filter"),
-        remappings=[
-            ("input", "short_range/pointcloud"),
-            ("output", "downsampled/short_range/pointcloud"),
-        ],
-        parameters=[load_composable_node_param("voxel_grid_param_path")],
-    )
-
     # set outlier filter as a component
     outlier_filter_component = ComposableNode(
         package="pointcloud_preprocessor",
@@ -142,7 +129,7 @@ def load_composable_node_param(param_path):
         plugin="pointcloud_preprocessor::VoxelGridOutlierFilterComponent",
         name="outlier_filter",
         remappings=[
-            ("input", "downsampled/short_range/pointcloud"),
+            ("input", "short_range/pointcloud"),
             ("output", "outlier_filter/pointcloud"),
         ],
         parameters=[load_composable_node_param("outlier_param_path")],
@@ -214,7 +201,6 @@ def load_composable_node_param(param_path):
             compare_map_filter_component,
             use_map_short_range_crop_box_filter_component,
             use_map_long_range_crop_box_filter_component,
-            voxel_grid_filter_component,
             outlier_filter_component,
             downsample_concat_component,
             use_downsample_euclidean_cluster_component,
@@ -232,7 +218,6 @@ def load_composable_node_param(param_path):
         composable_node_descriptions=[
             disuse_map_short_range_crop_box_filter_component,
             disuse_map_long_range_crop_box_filter_component,
-            voxel_grid_filter_component,
             outlier_filter_component,
             downsample_concat_component,
             use_downsample_euclidean_cluster_component,

From 1db7712ccfe2a3b200e09522932b73f3f6a53b99 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 14 Sep 2023 17:47:54 +0900
Subject: [PATCH 3/8] fix: add low range cropbox

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 ...ra_lidar_fusion_based_detection.launch.xml |   4 +-
 ...ar_radar_fusion_based_detection.launch.xml |   4 +-
 .../detection/detection.launch.xml            |   4 +
 .../lidar_based_detection.launch.xml          |   4 +-
 .../launch/perception.launch.xml              |   4 +-
 ...el_grid_based_euclidean_cluster.param.yaml |  14 +-
 ...xel_grid_based_euclidean_cluster.launch.py | 224 ++----------------
 ...el_grid_based_euclidean_cluster.launch.xml |   6 +-
 8 files changed, 37 insertions(+), 227 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index eab2a56607de..c5fda4724cfc 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -12,7 +12,6 @@
   <arg name="score_threshold" default="0.35"/>
 
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
@@ -80,8 +79,7 @@
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
         <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
         <arg name="output_clusters" value="euclidean_cluster/clusters"/>
-        <arg name="use_pointcloud_map" value="false"/>
-        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
+        <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
       </include>
     </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 463340efdecf..1222716a8788 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -12,7 +12,6 @@
   <arg name="score_threshold" default="0.35"/>
 
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
@@ -99,8 +98,7 @@
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
         <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
         <arg name="output_clusters" value="clusters"/>
-        <arg name="use_pointcloud_map" value="false"/>
-        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
+        <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
       </include>
     </group>
 
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 ca5d1d0f7e8b..4a8fd76f1807 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
@@ -65,6 +65,7 @@
       <arg name="remove_unknown" value="$(var remove_unknown)"/>
       <arg name="trust_distance" value="$(var trust_distance)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
     </include>
   </group>
 
@@ -94,6 +95,7 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
     </include>
   </group>
 
@@ -107,6 +109,7 @@
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
     </include>
   </group>
 
@@ -119,6 +122,7 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
     </include>
   </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 5b6134dc4558..7dd970f2ce3b 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -5,7 +5,6 @@
   <arg name="output/objects" default="objects"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
@@ -40,8 +39,7 @@
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
         <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
         <arg name="output_clusters" value="clusters"/>
-        <arg name="use_pointcloud_map" value="false"/>
-        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
+        <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
       </include>
     </group>
 
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index c41177e51116..678e3d6b3386 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -59,7 +59,7 @@
   <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_downsample_pointcloud" default="false" description="use downsample pointcloud in perception"/>
+  <arg name="use_low_range_cropbox" default="false" description="use low range crop filter in clustering"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg
     name="use_empty_dynamic_object_publisher"
@@ -162,7 +162,7 @@
           <arg name="voxel_grid_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-          <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
+          <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
           <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
           <arg name="container_name" value="$(var pointcloud_container_name)"/>
diff --git a/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml b/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml
index 2f3de2b789eb..fcaa95fb33bc 100644
--- a/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml
+++ b/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml
@@ -7,9 +7,11 @@
     max_cluster_size: 3000
     use_height: false
     input_frame: "base_link"
-    max_x: 70.0
-    min_x: -70.0
-    max_y: 70.0
-    min_y: -70.0
-    max_z: 4.5
-    min_z: -4.5
+
+    # low range crop box filter param
+    max_x: 200.0
+    min_x: -200.0
+    max_y: 200.0
+    min_y: -200.0
+    max_z: 2.0
+    min_z: -10.0
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index 9371808b8899..d4c27b4f0f93 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -16,10 +16,8 @@
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
 from launch.conditions import IfCondition
-from launch.substitutions import AndSubstitution
-from launch.substitutions import AnonName
+from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch.substitutions import NotSubstitution
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
@@ -36,146 +34,31 @@ def load_composable_node_param(param_path):
     ns = ""
     pkg = "euclidean_cluster"
 
-    # set compare map filter as a component
-    compare_map_filter_component = ComposableNode(
-        package="compare_map_segmentation",
-        namespace=ns,
-        plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
-        name=AnonName("compare_map_filter"),
-        remappings=[
-            ("input", LaunchConfiguration("input_pointcloud")),
-            ("map", LaunchConfiguration("input_map")),
-            ("output", "map_filter/pointcloud"),
-            ("map_loader_service", "/map/get_differential_pointcloud_map"),
-            ("kinematic_state", "/localization/kinematic_state"),
-        ],
-        parameters=[load_composable_node_param("compare_map_param_path")],
-    )
-
-    # separate range of pointcloud when map_filter used
-    use_map_short_range_crop_box_filter_component = ComposableNode(
+    low_range_cropbox_filter_component = ComposableNode(
         package="pointcloud_preprocessor",
         namespace=ns,
         plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="short_distance_crop_box_range",
-        remappings=[
-            ("input", "map_filter/pointcloud"),
-            ("output", "short_range/pointcloud"),
-        ],
-        parameters=[
-            load_composable_node_param("voxel_grid_based_euclidean_param_path"),
-            {
-                "negative": False,
-            },
-        ],
-    )
-
-    use_map_long_range_crop_box_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="long_distance_crop_box_range",
+        name="low_range_crop_box_range",
         remappings=[
             ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", "long_range/pointcloud"),
-        ],
-        parameters=[
-            load_composable_node_param("voxel_grid_based_euclidean_param_path"),
-            {
-                "negative": True,
-            },
-        ],
-    )
-
-    # disuse_map_voxel_grid_filter
-    disuse_map_short_range_crop_box_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="short_distance_crop_box_range",
-        remappings=[
-            ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", "short_range/pointcloud"),
-        ],
-        parameters=[
-            load_composable_node_param("voxel_grid_based_euclidean_param_path"),
-            {
-                "negative": False,
-            },
-        ],
-    )
-
-    disuse_map_long_range_crop_box_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="long_distance_crop_box_range",
-        remappings=[
-            ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", "long_range/pointcloud"),
-        ],
-        parameters=[
-            load_composable_node_param("voxel_grid_based_euclidean_param_path"),
-            {
-                "negative": True,
-            },
-        ],
-    )
-
-    # set outlier filter as a component
-    outlier_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::VoxelGridOutlierFilterComponent",
-        name="outlier_filter",
-        remappings=[
-            ("input", "short_range/pointcloud"),
-            ("output", "outlier_filter/pointcloud"),
-        ],
-        parameters=[load_composable_node_param("outlier_param_path")],
-    )
-
-    # concat with-outlier pointcloud and without-outlier pcl
-    downsample_concat_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
-        name="concat_downsampled_pcl",
-        remappings=[("output", "downsampled/concatenated/pointcloud")],
-        parameters=[
-            {
-                "input_topics": ["long_range/pointcloud", "outlier_filter/pointcloud"],
-                "output_frame": "base_link",
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    # set euclidean cluster as a component
-    use_downsample_euclidean_cluster_component = ComposableNode(
-        package=pkg,
-        namespace=ns,
-        plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
-        name="euclidean_cluster",
-        remappings=[
-            ("input", "downsampled/concatenated/pointcloud"),
-            ("output", LaunchConfiguration("output_clusters")),
+            ("output", "low_range/pointcloud"),
         ],
         parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
     )
 
-    use_map_disuse_downsample_euclidean_component = ComposableNode(
+    use_low_range_euclidean_component = ComposableNode(
         package=pkg,
         namespace=ns,
         plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
         name="euclidean_cluster",
         remappings=[
-            ("input", "map_filter/pointcloud"),
+            ("input", "low_range/pointcloud"),
             ("output", LaunchConfiguration("output_clusters")),
         ],
         parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
     )
-    disuse_map_disuse_downsample_euclidean_component = ComposableNode(
+
+    disuse_low_range_euclidean_component = ComposableNode(
         package=pkg,
         namespace=ns,
         plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
@@ -196,73 +79,24 @@ def load_composable_node_param(param_path):
         output="screen",
     )
 
-    use_map_use_downsample_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            compare_map_filter_component,
-            use_map_short_range_crop_box_filter_component,
-            use_map_long_range_crop_box_filter_component,
-            outlier_filter_component,
-            downsample_concat_component,
-            use_downsample_euclidean_cluster_component,
-        ],
-        target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                LaunchConfiguration("use_pointcloud_map"),
-                LaunchConfiguration("use_downsample_pointcloud"),
-            )
-        ),
-    )
-
-    disuse_map_use_downsample_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            disuse_map_short_range_crop_box_filter_component,
-            disuse_map_long_range_crop_box_filter_component,
-            outlier_filter_component,
-            downsample_concat_component,
-            use_downsample_euclidean_cluster_component,
-        ],
-        target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                NotSubstitution(LaunchConfiguration("use_pointcloud_map")),
-                LaunchConfiguration("use_downsample_pointcloud"),
-            )
-        ),
-    )
-
-    use_map_disuse_downsample_loader = LoadComposableNodes(
+    use_low_range_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[
-            compare_map_filter_component,
-            use_map_disuse_downsample_euclidean_component,
+            low_range_cropbox_filter_component,
+            use_low_range_euclidean_component,
         ],
         target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                (LaunchConfiguration("use_pointcloud_map")),
-                NotSubstitution(LaunchConfiguration("use_downsample_pointcloud")),
-            )
-        ),
+        condition=IfCondition(LaunchConfiguration("use_low_range_cropbox")),
     )
 
-    disuse_map_disuse_downsample_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            disuse_map_disuse_downsample_euclidean_component,
-        ],
+    disuse_low_range_pointcloud_loader = LoadComposableNodes(
+        composable_node_descriptions=[disuse_low_range_euclidean_component],
         target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                NotSubstitution(LaunchConfiguration("use_pointcloud_map")),
-                NotSubstitution(LaunchConfiguration("use_downsample_pointcloud")),
-            )
-        ),
+        condition=UnlessCondition(LaunchConfiguration("use_low_range_cropbox")),
     )
     return [
         container,
-        use_map_use_downsample_loader,
-        disuse_map_use_downsample_loader,
-        use_map_disuse_downsample_loader,
-        disuse_map_disuse_downsample_loader,
+        use_low_range_pointcloud_loader,
+        disuse_low_range_pointcloud_loader,
     ]
 
 
@@ -275,29 +109,7 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_pointcloud", "/perception/obstacle_segmentation/pointcloud"),
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
-            add_launch_arg("use_pointcloud_map", "false"),
-            add_launch_arg("use_downsample_pointcloud", "false"),
-            add_launch_arg(
-                "voxel_grid_param_path",
-                [
-                    FindPackageShare("autoware_launch"),
-                    "/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml",
-                ],
-            ),
-            add_launch_arg(
-                "outlier_param_path",
-                [
-                    FindPackageShare("autoware_launch"),
-                    "/config/perception/object_recognition/detection/clustering/outlier.param.yaml",
-                ],
-            ),
-            add_launch_arg(
-                "compare_map_param_path",
-                [
-                    FindPackageShare("autoware_launch"),
-                    "/config/perception/object_recognition/detection/clustering/compare_map.param.yaml",
-                ],
-            ),
+            add_launch_arg("use_low_range_cropbox", "false"),
             add_launch_arg(
                 "voxel_grid_based_euclidean_param_path",
                 [
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
index 2833fed81c28..87438405badc 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
@@ -3,8 +3,7 @@
   <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="input_map" default="/map/pointcloud_map"/>
   <arg name="output_clusters" default="clusters"/>
-  <arg name="use_pointcloud_map" default="false"/>
-  <arg name="use_downsample_pointcloud" default="false"/>
+  <arg name="use_low_range_cropbox" default="false"/>
   <arg name="voxel_grid_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid.param.yaml"/>
   <arg name="compare_map_param_path" default="$(find-pkg-share euclidean_cluster)/config/compare_map.param.yaml"/>
   <arg name="outlier_param_path" default="$(find-pkg-share euclidean_cluster)/config/outlier.param.yaml"/>
@@ -14,8 +13,7 @@
     <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
     <arg name="input_map" value="$(var input_map)"/>
     <arg name="output_clusters" value="$(var output_clusters)"/>
-    <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
+    <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
     <arg name="voxel_grid_param_path" value="$(var voxel_grid_param_path)"/>
     <arg name="compare_map_param_path" value="$(var compare_map_param_path)"/>
     <arg name="outlier_param_path" value="$(var outlier_param_path)"/>

From 01500a7e934a4e0468b08d28e6df6ef3cffa835e Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 14 Sep 2023 19:22:59 +0900
Subject: [PATCH 4/8] refactor: use_pointcloud_map

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 ...ra_lidar_fusion_based_detection.launch.xml |  8 ++---
 ...ar_radar_fusion_based_detection.launch.xml |  8 ++---
 .../detection/detection.launch.xml            |  1 -
 .../lidar_based_detection.launch.xml          |  8 ++---
 .../lidar_radar_based_detection.launch.xml    |  1 -
 .../detection/pointcloud_map_filter.launch.py | 36 ++++++++-----------
 6 files changed, 23 insertions(+), 39 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index c5fda4724cfc..caf9c121f640 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -11,7 +11,6 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="score_threshold" default="0.35"/>
 
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
@@ -60,13 +59,14 @@
 
   <!-- Pointcloud map filter -->
   <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
 
@@ -74,10 +74,8 @@
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
-      <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-      <let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
+        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="euclidean_cluster/clusters"/>
         <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
       </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 1222716a8788..bbde6e83dff4 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -11,7 +11,6 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="score_threshold" default="0.35"/>
 
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
@@ -79,13 +78,14 @@
 
   <!-- Pointcloud map filter -->
   <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
 
@@ -93,10 +93,8 @@
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
-      <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-      <let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
+        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
       </include>
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 4a8fd76f1807..50825aa990bf 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
@@ -5,7 +5,6 @@
   <!-- lidar param -->
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 7dd970f2ce3b..102f250446c3 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -4,7 +4,6 @@
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="output/objects" default="objects"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
@@ -20,24 +19,23 @@
 
   <!-- Pointcloud map filter -->
   <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
 
   <!-- Clustering -->
   <group>
     <push-ros-namespace namespace="clustering"/>
-    <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
     <group>
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
+        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
       </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
index a47e6a86f1c7..32ce4ded80f9 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -3,7 +3,6 @@
   <!-- lidar param -->
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
index 2c0adcc4c7a7..053386897f9b 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
@@ -35,7 +35,6 @@ def __init__(self, context):
         )
         with open(pointcloud_map_filter_param_path, "r") as f:
             self.pointcloud_map_filter_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-        self.use_down_sample_filter = self.pointcloud_map_filter_param["use_down_sample_filter"]
         self.voxel_size = self.pointcloud_map_filter_param["down_sample_voxel_size"]
         self.distance_threshold = self.pointcloud_map_filter_param["distance_threshold"]
         self.downsize_ratio_z_axis = self.pointcloud_map_filter_param["downsize_ratio_z_axis"]
@@ -48,45 +47,37 @@ def __init__(self, context):
         self.publish_debug_pcd = self.pointcloud_map_filter_param["publish_debug_pcd"]
 
     def create_pipeline(self):
-        if self.use_down_sample_filter:
-            return self.create_down_sample_pipeline()
+        if LaunchConfiguration("use_pointcloud_map"):
+            return self.create_compare_map_pipeline()
         else:
-            return self.create_normal_pipeline()
+            return self.create_no_compare_map_pipeline()
 
-    def create_normal_pipeline(self):
+    def create_no_compare_map_pipeline(self):
         components = []
         components.append(
             ComposableNode(
-                package="compare_map_segmentation",
-                plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
-                name="voxel_based_compare_map_filter",
+                package="pointcloud_preprocessor",
+                plugin="pointcloud_preprocessor::ApproximateDownsampleFilterComponent",
+                name="voxel_grid_downsample_filter",
                 remappings=[
                     ("input", LaunchConfiguration("input_topic")),
-                    ("map", "/map/pointcloud_map"),
                     ("output", LaunchConfiguration("output_topic")),
-                    ("map_loader_service", "/map/get_differential_pointcloud_map"),
-                    ("kinematic_state", "/localization/kinematic_state"),
                 ],
                 parameters=[
                     {
-                        "distance_threshold": self.distance_threshold,
-                        "downsize_ratio_z_axis": self.downsize_ratio_z_axis,
-                        "timer_interval_ms": self.timer_interval_ms,
-                        "use_dynamic_map_loading": self.use_dynamic_map_loading,
-                        "map_update_distance_threshold": self.map_update_distance_threshold,
-                        "map_loader_radius": self.map_loader_radius,
-                        "publish_debug_pcd": self.publish_debug_pcd,
-                        "input_frame": "map",
+                        "voxel_size_x": self.voxel_size,
+                        "voxel_size_y": self.voxel_size,
+                        "voxel_size_z": self.voxel_size,
                     }
                 ],
                 extra_arguments=[
-                    {"use_intra_process_comms": False},
+                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
                 ],
-            )
+            ),
         )
         return components
 
-    def create_down_sample_pipeline(self):
+    def create_compare_map_pipeline(self):
         components = []
         down_sample_topic = (
             "/perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud"
@@ -177,6 +168,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("container_name", "pointcloud_map_filter_pipeline_container")
+    add_launch_arg("use_pointcloud_map", "true")
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",

From c66eaccafc21e65115fcbb1afc6e28c32dc8295b Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 14 Sep 2023 21:07:43 +0900
Subject: [PATCH 5/8] chore: refactor

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 ...ra_lidar_fusion_based_detection.launch.xml |  2 +-
 ...ar_radar_fusion_based_detection.launch.xml |  2 +-
 .../lidar_based_detection.launch.xml          |  2 +-
 .../launch/perception.launch.xml              |  4 --
 .../config/compare_map.param.yaml             | 20 ------
 .../config/outlier.param.yaml                 |  8 ---
 .../launch/euclidean_cluster.launch.py        | 71 +++++--------------
 .../launch/euclidean_cluster.launch.xml       |  2 -
 ...xel_grid_based_euclidean_cluster.launch.py |  2 +-
 ...el_grid_based_euclidean_cluster.launch.xml |  6 --
 10 files changed, 23 insertions(+), 96 deletions(-)
 delete mode 100644 perception/euclidean_cluster/config/compare_map.param.yaml
 delete mode 100644 perception/euclidean_cluster/config/outlier.param.yaml

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index caf9c121f640..83a0a176afca 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -57,7 +57,7 @@
     <arg name="image_number" value="$(var image_number)"/>
   </include> -->
 
-  <!-- Pointcloud map filter -->
+  <!-- Pointcloud filter -->
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index bbde6e83dff4..0bd58920101b 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -76,7 +76,7 @@
     </include>
   </group>
 
-  <!-- Pointcloud map filter -->
+  <!-- Pointcloud filter -->
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 102f250446c3..136ceb20f638 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -17,7 +17,7 @@
   <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
 
-  <!-- Pointcloud map filter -->
+  <!-- Pointcloud filter -->
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 678e3d6b3386..c1d7ee73ba83 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -1,10 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Parameter files -->
-  <arg name="object_recognition_detection_compare_map_param_path"/>
   <arg name="object_recognition_detection_euclidean_cluster_param_path"/>
   <arg name="object_recognition_detection_outlier_param_path"/>
-  <arg name="object_recognition_detection_voxel_grid_based_euclidean_param_path"/>
   <arg name="object_recognition_detection_object_lanelet_filter_param_path"/>
   <arg name="object_recognition_detection_object_position_filter_param_path"/>
   <arg name="object_recognition_detection_pointcloud_map_filter_param_path"/>
@@ -156,10 +154,8 @@
           <arg name="image_number" value="$(var image_number)"/>
           <arg name="sync_param_path" value="$(var object_recognition_detection_fusion_sync_param_path)"/>
           <arg name="lidar_model_param_path" value="$(var object_recognition_detection_lidar_model_param_path)"/>
-          <arg name="compare_map_param_path" value="$(var object_recognition_detection_compare_map_param_path)"/>
           <arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
-          <arg name="voxel_grid_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
diff --git a/perception/euclidean_cluster/config/compare_map.param.yaml b/perception/euclidean_cluster/config/compare_map.param.yaml
deleted file mode 100644
index 3dd303464a2c..000000000000
--- a/perception/euclidean_cluster/config/compare_map.param.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-/**:
-  ros__parameters:
-
-    # distance threshold for compare compare
-    distance_threshold: 0.5
-
-    # publish voxelized map pointcloud for debug
-    publish_debug_pcd: False
-
-    # use dynamic map loading
-    use_dynamic_map_loading: True
-
-    # time interval to check dynamic map loading
-    timer_interval_ms: 100
-
-    # distance threshold for dynamic map update
-    map_update_distance_threshold: 10.0
-
-    # radius map for dynamic map loading
-    map_loader_radius: 150.0
diff --git a/perception/euclidean_cluster/config/outlier.param.yaml b/perception/euclidean_cluster/config/outlier.param.yaml
deleted file mode 100644
index 1962fba1f332..000000000000
--- a/perception/euclidean_cluster/config/outlier.param.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-/**:
-  ros__parameters:
-    input_frame: base_link
-    output_frame: base_link
-    voxel_size_x: 0.3
-    voxel_size_y: 0.3
-    voxel_size_z: 100.0
-    voxel_points_threshold: 3
diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
index db86bbf80d25..06c89adca77a 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
@@ -35,61 +35,35 @@ def load_composable_node_param(param_path):
     ns = ""
     pkg = "euclidean_cluster"
 
-    # set voxel grid filter as a component
-    voxel_grid_filter_component = ComposableNode(
+    low_range_cropbox_filter_component = ComposableNode(
         package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
-        name=AnonName("voxel_grid_filter"),
+        namespace=ns,
+        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        name="low_range_crop_box_filter",
         remappings=[
             ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", "voxel_grid_filtered/pointcloud"),
-        ],
-        parameters=[load_composable_node_param("voxel_grid_param_path")],
-    )
-
-    # set compare map filter as a component
-    compare_map_filter_component = ComposableNode(
-        package="compare_map_segmentation",
-        plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
-        name=AnonName("compare_map_filter"),
-        remappings=[
-            ("input", "voxel_grid_filtered/pointcloud"),
-            ("map", LaunchConfiguration("input_map")),
-            ("output", "compare_map_filtered/pointcloud"),
-            ("map_loader_service", "/map/get_differential_pointcloud_map"),
-            ("kinematic_state", "/localization/kinematic_state"),
-        ],
-        parameters=[
-            {
-                "distance_threshold": 0.5,
-                "timer_interval_ms": 100,
-                "use_dynamic_map_loading": True,
-                "downsize_ratio_z_axis": 0.5,
-                "map_update_distance_threshold": 10.0,
-                "map_loader_radius": 150.0,
-                "publish_debug_pcd": True,
-                "input_frame": "map",
-            }
+            ("output", "low_range/pointcloud"),
         ],
+        parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
     )
 
-    use_map_euclidean_cluster_component = ComposableNode(
+    use_low_range_euclidean_component = ComposableNode(
         package=pkg,
         plugin="euclidean_cluster::EuclideanClusterNode",
         name=AnonName("euclidean_cluster"),
         remappings=[
-            ("input", "compare_map_filtered/pointcloud"),
+            ("input", "low_range/pointcloud"),
             ("output", LaunchConfiguration("output_clusters")),
         ],
         parameters=[load_composable_node_param("euclidean_param_path")],
     )
 
-    disuse_map_euclidean_cluster_component = ComposableNode(
+    disuse_low_range_euclidean_component = ComposableNode(
         package=pkg,
         plugin="euclidean_cluster::EuclideanClusterNode",
         name=AnonName("euclidean_cluster"),
         remappings=[
-            ("input", "voxel_grid_filtered/pointcloud"),
+            ("input", LaunchConfiguration("input_pointcloud")),
             ("output", LaunchConfiguration("output_clusters")),
         ],
         parameters=[load_composable_node_param("euclidean_param_path")],
@@ -100,26 +74,26 @@ def load_composable_node_param(param_path):
         namespace=ns,
         package="rclcpp_components",
         executable="component_container",
-        composable_node_descriptions=[voxel_grid_filter_component],
+        composable_node_descriptions=[],
         output="screen",
     )
 
-    use_map_loader = LoadComposableNodes(
+    use_low_range_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[
-            compare_map_filter_component,
-            use_map_euclidean_cluster_component,
+            low_range_cropbox_filter_component,
+            use_low_range_euclidean_component,
         ],
         target_container=container,
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_map")),
+        condition=IfCondition(LaunchConfiguration("use_low_range_cropbox")),
     )
 
-    disuse_map_loader = LoadComposableNodes(
-        composable_node_descriptions=[disuse_map_euclidean_cluster_component],
+    disuse_low_range_pointcloud_loader = LoadComposableNodes(
+        composable_node_descriptions=[disuse_low_range_euclidean_component],
         target_container=container,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_map")),
+        condition=UnlessCondition(LaunchConfiguration("use_low_range_cropbox")),
     )
 
-    return [container, use_map_loader, disuse_map_loader]
+    return [container, use_low_range_pointcloud_loader, disuse_low_range_pointcloud_loader]
 
 
 def generate_launch_description():
@@ -132,13 +106,6 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
             add_launch_arg("use_pointcloud_map", "false"),
-            add_launch_arg(
-                "voxel_grid_param_path",
-                [
-                    FindPackageShare("autoware_launch"),
-                    "/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml",
-                ],
-            ),
             add_launch_arg(
                 "euclidean_param_path",
                 [
diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
index 7159fb4c4279..cea344df23e0 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
@@ -4,7 +4,6 @@
   <arg name="input_map" default="/map/pointcloud_map"/>
   <arg name="output_clusters" default="clusters"/>
   <arg name="use_pointcloud_map" default="false"/>
-  <arg name="voxel_grid_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid.param.yaml"/>
   <arg name="euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/euclidean_cluster.param.yaml"/>
 
   <include file="$(find-pkg-share euclidean_cluster)/launch/euclidean_cluster.launch.py">
@@ -12,7 +11,6 @@
     <arg name="input_map" value="$(var input_map)"/>
     <arg name="output_clusters" value="$(var output_clusters)"/>
     <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    <arg name="voxel_grid_param_path" value="$(var voxel_grid_param_path)"/>
     <arg name="euclidean_param_path" value="$(var euclidean_param_path)"/>
   </include>
 </launch>
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index d4c27b4f0f93..bdb367ed975c 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -38,7 +38,7 @@ def load_composable_node_param(param_path):
         package="pointcloud_preprocessor",
         namespace=ns,
         plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="low_range_crop_box_range",
+        name="low_range_crop_box_filter",
         remappings=[
             ("input", LaunchConfiguration("input_pointcloud")),
             ("output", "low_range/pointcloud"),
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
index 87438405badc..bc3cdcf1118f 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
@@ -4,9 +4,6 @@
   <arg name="input_map" default="/map/pointcloud_map"/>
   <arg name="output_clusters" default="clusters"/>
   <arg name="use_low_range_cropbox" default="false"/>
-  <arg name="voxel_grid_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid.param.yaml"/>
-  <arg name="compare_map_param_path" default="$(find-pkg-share euclidean_cluster)/config/compare_map.param.yaml"/>
-  <arg name="outlier_param_path" default="$(find-pkg-share euclidean_cluster)/config/outlier.param.yaml"/>
   <arg name="voxel_grid_based_euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid_based_euclidean_cluster.param.yaml"/>
 
   <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.py">
@@ -14,9 +11,6 @@
     <arg name="input_map" value="$(var input_map)"/>
     <arg name="output_clusters" value="$(var output_clusters)"/>
     <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
-    <arg name="voxel_grid_param_path" value="$(var voxel_grid_param_path)"/>
-    <arg name="compare_map_param_path" value="$(var compare_map_param_path)"/>
-    <arg name="outlier_param_path" value="$(var outlier_param_path)"/>
     <arg name="voxel_grid_based_euclidean_param_path" value="$(var voxel_grid_based_euclidean_param_path)"/>
   </include>
 </launch>

From 3d3aa4f1199e6f73a1fc0bdd2329f32d5c1240cd Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Fri, 15 Sep 2023 00:56:47 +0900
Subject: [PATCH 6/8] fix: add roi based clustering option

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../camera_lidar_fusion_based_detection.launch.xml       | 9 ++++++---
 .../camera_lidar_radar_fusion_based_detection.launch.xml | 8 +++++---
 .../object_recognition/detection/detection.launch.xml    | 2 ++
 .../tier4_perception_launch/launch/perception.launch.xml | 2 ++
 4 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 83a0a176afca..8262881cd37c 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -16,6 +16,7 @@
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
+  <arg name="use_roi_based_cluster" default="false"/>
 
   <!-- Camera param -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -74,16 +75,18 @@
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
+      <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="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
         <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-        <arg name="output_clusters" value="euclidean_cluster/clusters"/>
+        <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
         <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
       </include>
     </group>
 
     <!-- roi based clustering -->
     <group>
-      <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml">
+      <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
         <arg name="input/camera_info0" value="$(var camera_info0)"/>
         <arg name="input/rois0" value="$(var detection_rois0)"/>
         <arg name="input/camera_info1" value="$(var camera_info1)"/>
@@ -116,7 +119,7 @@
 
     <!-- simple_cluster_merger -->
     <group>
-      <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml">
+      <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
         <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
         <arg name="input/cluster1" value="roi_cluster/clusters"/>
         <arg name="output/clusters" value="clusters"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 0bd58920101b..7045500f2b57 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -93,9 +93,11 @@
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
+      <let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
+      <let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
         <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-        <arg name="output_clusters" value="clusters"/>
+        <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
         <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
       </include>
     </group>
@@ -147,7 +149,7 @@
 
       <!-- roi based clustering -->
       <group>
-        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml">
+        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
           <arg name="input/camera_info0" value="$(var camera_info0)"/>
           <arg name="input/rois0" value="$(var detection_rois0)"/>
           <arg name="input/camera_info1" value="$(var camera_info1)"/>
@@ -180,7 +182,7 @@
 
       <!-- simple_cluster_merger -->
       <group>
-        <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml">
+        <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
           <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
           <arg name="input/cluster1" value="roi_cluster/clusters"/>
           <arg name="output/clusters" value="clusters"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 50825aa990bf..9fbdc2854677 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -65,6 +65,7 @@
       <arg name="trust_distance" value="$(var trust_distance)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
+      <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
     </include>
   </group>
 
@@ -95,6 +96,7 @@
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
+      <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
     </include>
   </group>
 
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index c1d7ee73ba83..9d3127b47158 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -59,6 +59,7 @@
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_low_range_cropbox" default="false" description="use low range crop filter in clustering"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="use_roi_based_cluster" default="true" description="use roi_based_cluster in clustering"/>
   <arg
     name="use_empty_dynamic_object_publisher"
     default="false"
@@ -164,6 +165,7 @@
           <arg name="container_name" value="$(var pointcloud_container_name)"/>
           <arg name="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="trust_distance" value="$(var trust_distance)"/>
+          <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
         </include>
       </group>
 

From 9639f8a10b30b96b30b612dadf4882dcf604bd5b Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Fri, 15 Sep 2023 23:41:29 +0900
Subject: [PATCH 7/8] chore: change node name

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 ...ra_lidar_fusion_based_detection.launch.xml |  2 +-
 ...ar_radar_fusion_based_detection.launch.xml |  2 +-
 .../detection/detection.launch.xml            |  8 ++---
 .../lidar_based_detection.launch.xml          |  2 +-
 .../lidar_radar_based_detection.launch.xml    |  1 +
 .../launch/perception.launch.xml              |  4 +--
 ...el_grid_based_euclidean_cluster.param.yaml |  2 +-
 .../launch/euclidean_cluster.launch.py        | 30 ++++++++---------
 .../launch/euclidean_cluster.launch.xml       |  4 +--
 ...xel_grid_based_euclidean_cluster.launch.py | 32 +++++++++----------
 ...el_grid_based_euclidean_cluster.launch.xml |  4 +--
 11 files changed, 46 insertions(+), 45 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 8262881cd37c..7f2fc45396f7 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -80,7 +80,7 @@
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
         <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
-        <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
+        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       </include>
     </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 7045500f2b57..2bd007b65897 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -98,7 +98,7 @@
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
         <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
-        <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
+        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       </include>
     </group>
 
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 9fbdc2854677..ab5504713248 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
@@ -64,7 +64,7 @@
       <arg name="remove_unknown" value="$(var remove_unknown)"/>
       <arg name="trust_distance" value="$(var trust_distance)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
     </include>
   </group>
@@ -95,7 +95,7 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
-      <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
     </include>
   </group>
@@ -110,7 +110,7 @@
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     </include>
   </group>
 
@@ -123,7 +123,7 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
-      <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     </include>
   </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 136ceb20f638..ccc236d9cdc9 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -37,7 +37,7 @@
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
         <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="clusters"/>
-        <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
+        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       </include>
     </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
index 32ce4ded80f9..4756fc9338e4 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -18,6 +18,7 @@
       <arg name="output/objects" value="lidar/objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 9d3127b47158..a30b87a1068b 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -57,7 +57,7 @@
   <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_range_cropbox" default="false" description="use low range crop filter in clustering"/>
+  <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_roi_based_cluster" default="true" description="use roi_based_cluster in clustering"/>
   <arg
@@ -159,7 +159,7 @@
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-          <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
+          <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
           <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
           <arg name="container_name" value="$(var pointcloud_container_name)"/>
diff --git a/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml b/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml
index fcaa95fb33bc..26b027f0077a 100644
--- a/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml
+++ b/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml
@@ -8,7 +8,7 @@
     use_height: false
     input_frame: "base_link"
 
-    # low range crop box filter param
+    # low height crop box filter param
     max_x: 200.0
     min_x: -200.0
     max_y: 200.0
diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
index 06c89adca77a..66c25396a656 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
@@ -35,30 +35,30 @@ def load_composable_node_param(param_path):
     ns = ""
     pkg = "euclidean_cluster"
 
-    low_range_cropbox_filter_component = ComposableNode(
+    low_height_cropbox_filter_component = ComposableNode(
         package="pointcloud_preprocessor",
         namespace=ns,
         plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="low_range_crop_box_filter",
+        name="low_height_crop_box_filter",
         remappings=[
             ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", "low_range/pointcloud"),
+            ("output", "low_height/pointcloud"),
         ],
         parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
     )
 
-    use_low_range_euclidean_component = ComposableNode(
+    use_low_height_euclidean_component = ComposableNode(
         package=pkg,
         plugin="euclidean_cluster::EuclideanClusterNode",
         name=AnonName("euclidean_cluster"),
         remappings=[
-            ("input", "low_range/pointcloud"),
+            ("input", "low_height/pointcloud"),
             ("output", LaunchConfiguration("output_clusters")),
         ],
         parameters=[load_composable_node_param("euclidean_param_path")],
     )
 
-    disuse_low_range_euclidean_component = ComposableNode(
+    disuse_low_height_euclidean_component = ComposableNode(
         package=pkg,
         plugin="euclidean_cluster::EuclideanClusterNode",
         name=AnonName("euclidean_cluster"),
@@ -78,22 +78,22 @@ def load_composable_node_param(param_path):
         output="screen",
     )
 
-    use_low_range_pointcloud_loader = LoadComposableNodes(
+    use_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[
-            low_range_cropbox_filter_component,
-            use_low_range_euclidean_component,
+            low_height_cropbox_filter_component,
+            use_low_height_euclidean_component,
         ],
         target_container=container,
-        condition=IfCondition(LaunchConfiguration("use_low_range_cropbox")),
+        condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
-    disuse_low_range_pointcloud_loader = LoadComposableNodes(
-        composable_node_descriptions=[disuse_low_range_euclidean_component],
+    disuse_low_height_pointcloud_loader = LoadComposableNodes(
+        composable_node_descriptions=[disuse_low_height_euclidean_component],
         target_container=container,
-        condition=UnlessCondition(LaunchConfiguration("use_low_range_cropbox")),
+        condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
-    return [container, use_low_range_pointcloud_loader, disuse_low_range_pointcloud_loader]
+    return [container, use_low_height_pointcloud_loader, disuse_low_height_pointcloud_loader]
 
 
 def generate_launch_description():
@@ -105,7 +105,7 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_pointcloud", "/perception/obstacle_segmentation/pointcloud"),
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
-            add_launch_arg("use_pointcloud_map", "false"),
+            add_launch_arg("use_low_height_cropbox", "false"),
             add_launch_arg(
                 "euclidean_param_path",
                 [
diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
index cea344df23e0..fd1ea82befae 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
@@ -3,14 +3,14 @@
   <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="input_map" default="/map/pointcloud_map"/>
   <arg name="output_clusters" default="clusters"/>
-  <arg name="use_pointcloud_map" default="false"/>
+  <arg name="use_low_height_cropbox" default="false"/>
   <arg name="euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/euclidean_cluster.param.yaml"/>
 
   <include file="$(find-pkg-share euclidean_cluster)/launch/euclidean_cluster.launch.py">
     <arg name="input_points_raw_list" value="$(var input_pointcloud)"/>
     <arg name="input_map" value="$(var input_map)"/>
     <arg name="output_clusters" value="$(var output_clusters)"/>
-    <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+    <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     <arg name="euclidean_param_path" value="$(var euclidean_param_path)"/>
   </include>
 </launch>
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index bdb367ed975c..00bcd4422bd3 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -34,31 +34,31 @@ def load_composable_node_param(param_path):
     ns = ""
     pkg = "euclidean_cluster"
 
-    low_range_cropbox_filter_component = ComposableNode(
+    low_height_cropbox_filter_component = ComposableNode(
         package="pointcloud_preprocessor",
         namespace=ns,
         plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="low_range_crop_box_filter",
+        name="low_height_crop_box_filter",
         remappings=[
             ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", "low_range/pointcloud"),
+            ("output", "low_height/pointcloud"),
         ],
         parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
     )
 
-    use_low_range_euclidean_component = ComposableNode(
+    use_low_height_euclidean_component = ComposableNode(
         package=pkg,
         namespace=ns,
         plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
         name="euclidean_cluster",
         remappings=[
-            ("input", "low_range/pointcloud"),
+            ("input", "low_height/pointcloud"),
             ("output", LaunchConfiguration("output_clusters")),
         ],
         parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
     )
 
-    disuse_low_range_euclidean_component = ComposableNode(
+    disuse_low_height_euclidean_component = ComposableNode(
         package=pkg,
         namespace=ns,
         plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
@@ -79,24 +79,24 @@ def load_composable_node_param(param_path):
         output="screen",
     )
 
-    use_low_range_pointcloud_loader = LoadComposableNodes(
+    use_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[
-            low_range_cropbox_filter_component,
-            use_low_range_euclidean_component,
+            low_height_cropbox_filter_component,
+            use_low_height_euclidean_component,
         ],
         target_container=container,
-        condition=IfCondition(LaunchConfiguration("use_low_range_cropbox")),
+        condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
-    disuse_low_range_pointcloud_loader = LoadComposableNodes(
-        composable_node_descriptions=[disuse_low_range_euclidean_component],
+    disuse_low_height_pointcloud_loader = LoadComposableNodes(
+        composable_node_descriptions=[disuse_low_height_euclidean_component],
         target_container=container,
-        condition=UnlessCondition(LaunchConfiguration("use_low_range_cropbox")),
+        condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
     return [
         container,
-        use_low_range_pointcloud_loader,
-        disuse_low_range_pointcloud_loader,
+        use_low_height_pointcloud_loader,
+        disuse_low_height_pointcloud_loader,
     ]
 
 
@@ -109,7 +109,7 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_pointcloud", "/perception/obstacle_segmentation/pointcloud"),
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
-            add_launch_arg("use_low_range_cropbox", "false"),
+            add_launch_arg("use_low_height_cropbox", "false"),
             add_launch_arg(
                 "voxel_grid_based_euclidean_param_path",
                 [
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
index bc3cdcf1118f..b6a426dabfd1 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
@@ -3,14 +3,14 @@
   <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="input_map" default="/map/pointcloud_map"/>
   <arg name="output_clusters" default="clusters"/>
-  <arg name="use_low_range_cropbox" default="false"/>
+  <arg name="use_low_height_cropbox" default="false"/>
   <arg name="voxel_grid_based_euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid_based_euclidean_cluster.param.yaml"/>
 
   <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.py">
     <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
     <arg name="input_map" value="$(var input_map)"/>
     <arg name="output_clusters" value="$(var output_clusters)"/>
-    <arg name="use_low_range_cropbox" value="$(var use_low_range_cropbox)"/>
+    <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     <arg name="voxel_grid_based_euclidean_param_path" value="$(var voxel_grid_based_euclidean_param_path)"/>
   </include>
 </launch>

From a0b6c7b595577eaf3f7b9f7725b6e99ea909a60f Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Sat, 16 Sep 2023 16:48:22 +0900
Subject: [PATCH 8/8] fix: launch argument pasrer

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../detection/pointcloud_map_filter.launch.py                  | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
index 053386897f9b..93d395ca3e46 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
@@ -45,9 +45,10 @@ def __init__(self, context):
         ]
         self.map_loader_radius = self.pointcloud_map_filter_param["map_loader_radius"]
         self.publish_debug_pcd = self.pointcloud_map_filter_param["publish_debug_pcd"]
+        self.use_pointcloud_map = LaunchConfiguration("use_pointcloud_map").perform(context)
 
     def create_pipeline(self):
-        if LaunchConfiguration("use_pointcloud_map"):
+        if self.use_pointcloud_map == "true":
             return self.create_compare_map_pipeline()
         else:
             return self.create_no_compare_map_pipeline()