feat: use pointpainting instead of centerpoint (autowarefoundation#567)

* feat: use pointpainting instead of centerpoint Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: tkimura4 <tkimura4@users.noreply.github.com>
soblin · Jul 25, 2023 · 30216f6 · 30216f6
1 parent 79aef09
commit 30216f6
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -13,10 +13,11 @@
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="input/pointcloud" value="/sensing/lidar/concatenated/pointcloud"/>
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
+    <arg name="lidar_detection_model" value="pointpainting"/>
     <arg name="centerpoint_model_name" value="aip_xx1"/>
     <arg name="centerpoint_model_path" value="$(find-pkg-share ml_model_provider)/data/lidar_centerpoint"/>
     <arg name="centerpoint_model_param_path" value="$(find-pkg-share ml_model_provider)/config/lidar_centerpoint/aip_xx1.param.yaml"/>
-    <arg name="traffic_light_recognition/fusion_only" default="true"/>
+    <arg name="traffic_light_recognition/fusion_only" value="true"/>
     <arg name="remove_unknown" value="false"/>
     <arg name="trust_distance" value="100.0"/>