fix args

Signed-off-by: Shunsuke Miura <[email protected]>

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -1,51 +1,46 @@
 <?xml version="1.0"?>
 <launch>
-  <arg
-    name="use_empty_dynamic_object_publisher"
-    default="false"
-    description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
-  />
+  <arg name="use_empty_dynamic_object_publisher" default="false" description="if true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"/>
   <arg name="use_traffic_light_recognition" default="true" description="use traffic light recognition module, if false, traffic light recognition module will not be launched"/>
-  <arg
-    name="occupancy_grid_map_method"
-    default="pointcloud_based_occupancy_grid_map"
-    description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map, multi_lidar_pointcloud_based_occupancy_grid_map"
-  />
+
+  <arg name="use_low_height_cropbox" default="false" description="use low height crop filter in clustering"/>
+  <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_roi_based_cluster" default="true" description="launch roi_based_cluster in clustering"/>
+  <arg name="use_low_intensity_cluster_filter" default="true" description="launch low_intensity_cluster_filter in clustering"/>
+  <arg name="use_perception_online_evaluator" default="false" description="launch perception online evaluator"/>
+  <arg name="use_detection_by_tracker" default="true" description="launch detection_by_tracker function"/>
+  <arg name="use_radar_tracking_fusion" default="true" description="if true, radar objects are merged in tracking module. Otherwise, radar objects are merged in detection module."/>
+  <arg name="use_object_filter" default="true" description="launch object filter to filter-out detected object"/>
+
+  <arg name="occupancy_grid_map_method" default="pointcloud_based" description="options: pointcloud_based, laserscan_based, multi_lidar_pointcloud_based"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
-  <arg
-    name="detected_objects_validation_method"
-    default="obstacle_pointcloud"
-    description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
-  />
+  <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- Options to Switch Launch Function/Module -->
     <arg name="mode" value="$(var perception_mode)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="data_path" value="$(var data_path)"/>
 
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
+    <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)_occupancy_grid_map"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
 
     <arg name="use_empty_dynamic_object_publisher" value="$(var use_empty_dynamic_object_publisher)"/>
-    <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
-    <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
-    <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-    <arg name="use_roi_based_cluster" default="true" description="launch roi_based_cluster in clustering"/>
-    <arg name="use_low_intensity_cluster_filter" default="true" description="launch low_intensity_cluster_filter in clustering"/>
-    <arg name="use_perception_online_evaluator" default="false" description="launch perception online evaluator"/>
-    <arg name="use_detection_by_tracker" default="true" description="launch detection_by_tracker function"/>
-    <arg
-      name="use_radar_tracking_fusion"
-      default="true"
-      description="if use_radar_tracking_fusion:=true, radar information is merged in tracking module. Otherwise, radar information is merged in detection module."
-    />
-    <arg name="use_object_filter" default="true" description="launch object filter to filter-out detected object"/>
+    <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+    <arg name="use_vector_map" value="$(var use_vector_map)"/>
+    <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+    <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
+    <arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
+    <arg name="use_perception_online_evaluator" value="$(var use_perception_online_evaluator)"/>
+    <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
+    <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
+    <arg name="use_object_filter" value="$(var use_object_filter)"/>
     <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
+    <arg name="data_path" value="$(var data_path)"/>
 
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
     <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>