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tier4_perception_launch package from autoware_launch repo

autoware_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch common_awsim_labs_sensor_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch common_sensor_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_common_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version	0.50.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_launch.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Maintainers

Yukihiro Saito
Yoshi Ri
Taekjin Lee
Masato Saeki

Authors

No additional authors.

tier4_universe_launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>

CHANGELOG

Changelog for package tier4_perception_launch

0.50.0 (2026-02-13)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: import tier4 launchers from universe (#1740)
Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
feat: add option for gpu-preprocessing in perception launch (#11728)
- add option for GPU preprocessing
* Rename CUDA pointclouds argument in perception launch ---------Co-authored-by: Yoshi Ri <<yoshiyoshidetteiu@gmail.com>>
feat(camera_streampetr): add camera streampetr to tracker input (#11635) add camera streampetr to tracker
Contributors: Ryohsuke Mitsudome, Yoshi Ri, Yuxuan Liu

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
feat(image_object_locator): add near range camera VRU detector to perception pipeline (#11622) add near range camera VRU detector to perception pipeline
feat(mult object tracker): publish merged object if it is multi-channel mode (#11386)
- feat(multi_object_tracker): add support for merged object output and related parameters
- feat(multi_object_tracker): add function to convert DynamicObject to DetectedObject and implement merged object publishing
- fix(multi_object_tracker): prevent merged objects publisher from being in input channel topics
- fix(multi_object_tracker): improve warning message for merged objects publisher in input channel
- feat(multi_object_tracker): add is_simulation parameter to control merged object publishing
- fix(multi_object_tracker): correct ego_frame_id variable usage and declaration
- feat(multi_object_tracker): update getMergedObjects to accept transform and apply frame conversion
- feat(multi_object_tracker): optimize getMergedObjects for efficient frame transformation
- fix(multi_object_tracker): fix bug when merged_objects_pub_ is nullptr
- feat(multi_object_tracker): refactor orientation availability conversion to improve code clarity
- fix(multi_object_tracker): remove redundant comment in publish method for clarity
- feat(multi_object_tracker): rename parameters for clarity and add publish_merged_objects option
- fix(multi_object_tracker): rename pruning parameters for consistency in schema
* Update perception/autoware_multi_object_tracker/src/processor/processor.cpp Co-authored-by: Yoshi Ri <<yoshiyoshidetteiu@gmail.com>>

* feat(multi_object_tracker): replace 'is_simulation' with 'publish_merged_objects' in launch files and parameters ---------Co-authored-by: Yoshi Ri <<yoshiyoshidetteiu@gmail.com>>
fix(camera_2d_detector): typo (#11380)
feat(launch): add args to select the 2d camera detection model (#11364)
- add args
- add color map path
* give color_map_path to yolox.launch Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

* give color_map_path to yolox.launch Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

* give color_map_path to yolox.launch Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

* give color_map_path to yolox.launch Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_bevfusion
	autoware_bytetrack
	autoware_cluster_merger
	autoware_compare_map_segmentation
	autoware_crosswalk_traffic_light_estimator
	autoware_detected_object_feature_remover
	autoware_detected_object_validation
	autoware_detection_by_tracker
	autoware_elevation_map_loader
	autoware_euclidean_cluster
	autoware_ground_segmentation
	autoware_image_object_locator
	autoware_image_projection_based_fusion
	autoware_image_transport_decompressor
	autoware_lidar_apollo_instance_segmentation
	autoware_lidar_centerpoint
	autoware_lidar_transfusion
	autoware_map_based_prediction
	autoware_multi_object_tracker
	autoware_object_merger
	autoware_object_range_splitter
	autoware_object_sorter
	autoware_object_velocity_splitter
	autoware_occupancy_grid_map_outlier_filter
	autoware_perception_online_evaluator
	autoware_pointcloud_preprocessor
	autoware_probabilistic_occupancy_grid_map
	autoware_radar_fusion_to_detected_object
	autoware_radar_object_tracker
	autoware_raindrop_cluster_filter
	autoware_shape_estimation
	autoware_simpl_prediction
	autoware_simple_object_merger
	autoware_tensorrt_bevdet
	autoware_tensorrt_yolox
	autoware_tracking_object_merger
	autoware_traffic_light_arbiter
	autoware_traffic_light_classifier
	autoware_traffic_light_fine_detector
	autoware_traffic_light_map_based_detector
	autoware_traffic_light_multi_camera_fusion
	autoware_traffic_light_occlusion_predictor
	autoware_traffic_light_visualization
	pointcloud_to_laserscan
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_launch
autoware_launch
autoware_launch
autoware_launch
tier4_simulator_launch
reaction_analyzer

Launch files

launch/object_recognition/detection/detection.launch.xml
- - mode
  - lidar_detection_model_type
  - lidar_detection_model_name
  - use_short_range_detection
  - lidar_short_range_detection_model_type
  - lidar_short_range_detection_model_name
  - use_object_filter
  - objects_filter_method
  - use_pointcloud_map
  - use_detection_by_tracker
  - use_validator
  - objects_validation_method
  - use_low_intensity_cluster_filter
  - use_image_segmentation_based_filter
  - use_multi_channel_tracker_merger
  - use_radar_tracking_fusion
  - use_irregular_object_detector
  - irregular_object_detector_fusion_camera_ids [default: [0]]
  - ml_camera_lidar_merger_priority_mode
  - camera_2d_detector/model_path
  - camera_2d_detector/label_path
  - camera_2d_detector/color_map_path
  - use_camera_vru_detector
  - camera_vru_detector_rois_ids [default: [0]]
  - number_of_cameras
  - node/pointcloud_container
  - input/pointcloud
  - input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  - input/camera0/image
  - input/camera0/info
  - input/camera0/rois
  - input/camera1/image
  - input/camera1/info
  - input/camera1/rois
  - input/camera2/image
  - input/camera2/info
  - input/camera2/rois
  - input/camera3/image
  - input/camera3/info
  - input/camera3/rois
  - input/camera4/image
  - input/camera4/info
  - input/camera4/rois
  - input/camera5/image
  - input/camera5/info
  - input/camera5/rois
  - input/camera6/image
  - input/camera6/info
  - input/camera6/rois
  - input/camera7/image
  - input/camera7/info
  - input/camera7/rois
  - input/camera8/image
  - input/camera8/info
  - input/camera8/rois
  - input/concatenation_info
  - image_topic_name
  - segmentation_pointcloud_fusion_camera_ids
  - input/radar
  - input/tracked_objects [default: /perception/object_recognition/tracking/objects]
  - output/objects [default: objects]
  - sync_param_path
  - voxel_grid_based_euclidean_param_path
  - irregular_object_detector_param_path
launch/object_recognition/detection/detector/camera_2d_detector.launch.xml
- - image_raw0 [default: /sensing/camera/camera0/image_raw]
  - image_raw1 [default: /sensing/camera/camera1/image_raw]
  - image_raw2 [default: /sensing/camera/camera2/image_raw]
  - image_raw3 [default: /sensing/camera/camera3/image_raw]
  - image_raw4 [default: /sensing/camera/camera4/image_raw]
  - image_raw5 [default: /sensing/camera/camera5/image_raw]
  - image_raw6 [default: /sensing/camera/camera6/image_raw]
  - image_raw7 [default: /sensing/camera/camera7/image_raw]
  - image_raw8 [default: /sensing/camera/camera8/image_raw]
  - image_raw9 [default: /sensing/camera/camera9/image_raw]
  - image_number [default: 1]
  - camera_index [default: 0]
  - use_bytetrack [default: true]
  - enable_visualizer [default: false]
  - camera_2d_detector/model_path
  - camera_2d_detector/label_path
  - camera_2d_detector/color_map_path
  - tensorrt_yolox_ns [default: ]
launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
- - input/camera0/image
  - input/camera0/info
  - input/camera1/image
  - input/camera1/info
  - input/camera2/image
  - input/camera2/info
  - input/camera3/image
  - input/camera3/info
  - input/camera4/image
  - input/camera4/info
  - input/camera5/image
  - input/camera5/info
  - input/camera6/image
  - input/camera6/info
  - input/camera7/image
  - input/camera7/info
  - output/objects
  - number_of_cameras
  - data_path [default: $(env HOME)/autoware_data]
  - bevdet_model_name [default: bevdet_one_lt_d]
  - bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
- - ns
  - lidar_detection_model_type
  - lidar_detection_model_name
  - use_low_intensity_cluster_filter
  - use_image_segmentation_based_filter
  - number_of_cameras
  - input/camera0/image
  - input/camera0/info
  - input/camera0/rois
  - input/camera1/image
  - input/camera1/info
  - input/camera1/rois
  - input/camera2/image
  - input/camera2/info
  - input/camera2/rois
  - input/camera3/image
  - input/camera3/info
  - input/camera3/rois
  - input/camera4/image
  - input/camera4/info
  - input/camera4/rois
  - input/camera5/image
  - input/camera5/info
  - input/camera5/rois
  - input/camera6/image
  - input/camera6/info
  - input/camera6/rois
  - input/camera7/image
  - input/camera7/info
  - input/camera7/rois
  - input/camera8/image
  - input/camera8/info
  - input/camera8/rois
  - input/concatenation_info
  - segmentation_pointcloud_fusion_camera_ids
  - image_topic_name
  - sync_param_path
  - voxel_grid_based_euclidean_param_path
  - node/pointcloud_container
  - input/pointcloud
  - input/pointcloud_map/pointcloud
  - input/obstacle_segmentation/pointcloud
  - output/ml_detector/objects
  - output/rule_detector/objects
  - output/clustering/cluster_objects
  - camera_2d_detector/model_path
  - camera_2d_detector/label_path
  - camera_2d_detector/color_map_path
  - enable_2d_detection [default: false]
launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
- - ns
  - pipeline_ns
  - input/concatenation_info
  - input/pointcloud
  - fusion_camera_ids [default: [0]]
  - image_topic_name [default: image_raw]
  - irregular_object_detector_param_path
  - sync_param_path
launch/object_recognition/detection/detector/camera_vru_detector.launch.xml
- - ns
  - input/camera0/info [default: /sensing/camera/camera0/camera_info]
  - input/camera0/rois [default: /perception/object_recognition/detection/rois0]
  - input/camera1/info [default: /sensing/camera/camera1/camera_info]
  - input/camera1/rois [default: /perception/object_recognition/detection/rois1]
  - input/camera2/info [default: /sensing/camera/camera2/camera_info]
  - input/camera2/rois [default: /perception/object_recognition/detection/rois2]
  - input/camera3/info [default: /sensing/camera/camera3/camera_info]
  - input/camera3/rois [default: /perception/object_recognition/detection/rois3]
  - input/camera4/info [default: /sensing/camera/camera4/camera_info]
  - input/camera4/rois [default: /perception/object_recognition/detection/rois4]
  - input/camera5/info [default: /sensing/camera/camera5/camera_info]
  - input/camera5/rois [default: /perception/object_recognition/detection/rois5]
  - input/camera6/info [default: /sensing/camera/camera6/camera_info]
  - input/camera6/rois [default: /perception/object_recognition/detection/rois6]
  - input/camera7/info [default: /sensing/camera/camera7/camera_info]
  - input/camera7/rois [default: /perception/object_recognition/detection/rois7]
  - output/objects [default: /perception/object_recognition/detection/camera_vru/objects]
  - bbox_object_locator_param_path [default: $(find-pkg-share autoware_image_object_locator)/config/bbox_object_locator.param.yaml]
  - rois_ids [default: [0, 1]]
launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
- - lidar_detection_model_type
  - lidar_detection_model_name
  - bevfusion_model_path [default: $(var data_path)/bevfusion]
  - centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
  - transfusion_model_path [default: $(var data_path)/lidar_transfusion]
  - use_short_range_detection [default: false]
  - lidar_short_range_detection_model_type
  - lidar_short_range_detection_model_name
  - short_range_centerpoint_model_path [default: $(var data_path)/lidar_short_range_centerpoint]
  - node/pointcloud_container
  - input/pointcloud
  - output/objects
  - output/short_range_objects
  - lidar_short_range_model_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config]
  - lidar_model_param_path [default: $(find-pkg-share autoware_bevfusion)/config]
  - lidar_model_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config]
  - lidar_model_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config]
launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
- - ns
  - node/pointcloud_container
  - input/pointcloud_map/pointcloud
  - input/obstacle_segmentation/pointcloud
  - output/cluster_objects
  - output/objects
  - voxel_grid_based_euclidean_param_path
launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
- - input/clusters
  - input/tracked_objects
  - output/objects
launch/object_recognition/detection/filter/object_filter.launch.xml
- - objects_filter_method [default: lanelet_filter]
  - input/objects
  - output/objects
launch/object_recognition/detection/filter/object_validator.launch.xml
- - objects_validation_method
  - input/obstacle_pointcloud
  - input/objects
  - output/objects
launch/object_recognition/detection/filter/radar_filter.launch.xml
- - object_velocity_splitter_param_path [default: $(var object_recognition_detection_object_velocity_splitter_radar_param_path)]
  - object_range_splitter_param_path [default: $(var object_recognition_detection_object_range_splitter_radar_param_path)]
  - radar_lanelet_filtering_range_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  - input/radar
  - output/objects
launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
- - object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml]
  - object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml]
  - ml_camera_lidar_object_association_merger_param_path [default: $(find-pkg-share autoware_object_merger)/config/object_association_merger.param.yaml]
  - lidar_detection_model_type
  - use_detection_by_tracker
  - use_irregular_object_detector
  - use_object_filter
  - objects_filter_method
  - number_of_cameras
  - input/camera0/image
  - input/camera0/info
  - input/camera0/rois
  - input/camera1/image
  - input/camera1/info
  - input/camera1/rois
  - input/camera2/image
  - input/camera2/info
  - input/camera2/rois
  - input/camera3/image
  - input/camera3/info
  - input/camera3/rois
  - input/camera4/image
  - input/camera4/info
  - input/camera4/rois
  - input/camera5/image
  - input/camera5/info
  - input/camera5/rois
  - input/camera6/image
  - input/camera6/info
  - input/camera6/rois
  - input/camera7/image
  - input/camera7/info
  - input/camera7/rois
  - input/camera8/image
  - input/camera8/info
  - input/camera8/rois
  - input/lidar_ml/objects
  - input/lidar_rule/objects
  - input/detection_by_tracker/objects
  - output/objects [default: objects]
  - alpha_merger_priority_mode [default: 0]
launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
- - object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml]
  - object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml]
  - ml_camera_lidar_object_association_merger_param_path [default: $(find-pkg-share autoware_object_merger)/config/object_association_merger.param.yaml]
  - far_object_merger_sync_queue_size [default: 20]
  - lidar_detection_model_type
  - use_radar_tracking_fusion
  - use_detection_by_tracker
  - use_irregular_object_detector
  - use_object_filter
  - objects_filter_method
  - number_of_cameras
  - input/camera0/image
  - input/camera0/info
  - input/camera0/rois
  - input/camera1/image
  - input/camera1/info
  - input/camera1/rois
  - input/camera2/image
  - input/camera2/info
  - input/camera2/rois
  - input/camera3/image
  - input/camera3/info
  - input/camera3/rois
  - input/camera4/image
  - input/camera4/info
  - input/camera4/rois
  - input/camera5/image
  - input/camera5/info
  - input/camera5/rois
  - input/camera6/image
  - input/camera6/info
  - input/camera6/rois
  - input/camera7/image
  - input/camera7/info
  - input/camera7/rois
  - input/camera8/image
  - input/camera8/info
  - input/camera8/rois
  - input/lidar_ml/objects
  - input/lidar_rule/objects
  - input/radar/objects
  - input/radar_far/objects
  - input/detection_by_tracker/objects
  - output/objects [default: objects]
  - alpha_merger_priority_mode [default: 0]
launch/object_recognition/detection/merger/lidar_merger.launch.xml
- - object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml]
  - object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml]
  - lidar_detection_model_type
  - use_detection_by_tracker
  - use_object_filter
  - objects_filter_method
  - input/lidar_ml/objects [default: $(var lidar_detection_model_type)/objects]
  - input/lidar_rule/objects [default: clustering/objects]
  - input/detection_by_tracker/objects [default: detection_by_tracker/objects]
  - output/objects
launch/object_recognition/prediction/prediction.launch.xml
- - use_vector_map [default: false]
  - prediction_model_type [default: map_based]
  - input/objects [default: /perception/object_recognition/tracking/objects]
launch/object_recognition/tracking/tracking.launch.xml
- - object_recognition_tracking_radar_tracked_object_sorter_param_path
  - object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path
  - object_recognition_tracking_object_merger_data_association_matrix_param_path
  - object_recognition_tracking_object_merger_node_param_path
  - mode [default: lidar]
  - use_radar_tracking_fusion [default: false]
  - use_multi_channel_tracker_merger
  - use_validator
  - use_short_range_detection
  - use_camera_vru_detector
  - publish_merged_objects
  - lidar_detection_model_type [default: centerpoint]
  - input/merged_detection/channel [default: detected_objects]
  - input/merged_detection/objects [default: /perception/object_recognition/detection/objects]
  - input/lidar_dnn/channel [default: lidar_$(var lidar_detection_model_type)]
  - input/lidar_dnn/objects [default: /perception/object_recognition/detection/$(var lidar_detection_model_type)/objects]
  - input/lidar_dnn_validated/objects [default: /perception/object_recognition/detection/$(var lidar_detection_model_type)/validation/objects]
  - input/lidar_dnn_short_range/channel [default: lidar_$(var lidar_short_range_detection_model_type)]
  - input/lidar_dnn_short_range/objects [default: /perception/object_recognition/detection/$(var lidar_short_range_detection_model_type)/objects]
  - input/camera_lidar_rule_detector/channel [default: camera_lidar_fusion]
  - input/camera_lidar_rule_detector/objects [default: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects]
  - input/irregular_object_detector/channel [default: camera_lidar_fusion_irregular]
  - input/irregular_object_detector/objects [default: /perception/object_recognition/detection/irregular_object/objects]
  - input/tracker_based_detector/channel [default: detection_by_tracker]
  - input/tracker_based_detector/objects [default: /perception/object_recognition/detection/detection_by_tracker/objects]
  - input/radar/channel [default: radar]
  - input/radar/far_objects [default: /perception/object_recognition/detection/radar/far_objects]
  - input/radar/objects [default: /perception/object_recognition/detection/radar/objects]
  - input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
  - input/camera_only/objects [default: /perception/object_recognition/detection/camera_only/objects]
  - input/camera_only/channel [default: camera_streampetr]
  - input/camera_vru/channel [default: camera_vru]
  - input/camera_vru/objects [default: /perception/object_recognition/detection/camera_vru/objects]
  - output/objects [default: $(var ns)/objects]
  - output/merged_objects [default: $(var ns)/merged_objects]
launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
- - input/obstacle_pointcloud [default: concatenated/pointcloud]
  - input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
  - output [default: /perception/occupancy_grid_map/map]
  - use_intra_process [default: false]
  - use_multithread [default: false]
  - pointcloud_container_name [default: pointcloud_container]
  - occupancy_grid_map_method
  - occupancy_grid_map_param_path
  - occupancy_grid_map_updater
  - occupancy_grid_map_updater_param_path
  - input_obstacle_pointcloud [default: false]
  - input_obstacle_and_raw_pointcloud [default: true]
  - use_pointcloud_container [default: true]
launch/perception.launch.xml
- - object_recognition_detection_euclidean_cluster_param_path
  - object_recognition_detection_outlier_param_path
  - object_recognition_detection_object_lanelet_filter_param_path
  - object_recognition_detection_object_position_filter_param_path
  - object_recognition_detection_pointcloud_map_filter_param_path
  - object_recognition_prediction_map_based_prediction_param_path
  - object_recognition_detection_object_merger_data_association_matrix_param_path
  - ml_camera_lidar_object_association_merger_param_path
  - object_recognition_detection_object_merger_distance_threshold_list_path
  - object_recognition_detection_fusion_sync_param_path
  - object_recognition_detection_roi_cluster_fusion_param_path
  - object_recognition_detection_irregular_object_detector_param_path
  - object_recognition_detection_roi_detected_object_fusion_param_path
  - object_recognition_detection_near_range_camera_vru_param_path
  - object_recognition_detection_pointpainting_fusion_common_param_path
  - object_recognition_detection_lidar_model_param_path
  - object_recognition_detection_radar_lanelet_filtering_range_param_path
  - object_recognition_detection_object_velocity_splitter_radar_param_path
  - object_recognition_detection_object_velocity_splitter_radar_fusion_param_path
  - object_recognition_detection_object_range_splitter_radar_param_path
  - object_recognition_detection_object_range_splitter_radar_fusion_param_path
  - object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
  - object_recognition_tracking_multi_object_tracker_input_channels_param_path
  - object_recognition_tracking_multi_object_tracker_node_param_path
  - object_recognition_tracking_radar_tracked_object_sorter_param_path
  - object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path
  - obstacle_segmentation_ground_segmentation_param_path
  - obstacle_segmentation_ground_segmentation_elevation_map_param_path
  - object_recognition_detection_obstacle_pointcloud_based_validator_param_path
  - object_recognition_detection_detection_by_tracker_param
  - occupancy_grid_map_method
  - occupancy_grid_map_param_path
  - occupancy_grid_map_updater
  - occupancy_grid_map_updater_param_path
  - lidar_detection_model
  - each_traffic_light_map_based_detector_param_path
  - traffic_light_fine_detector_param_path
  - yolox_traffic_light_detector_param_path
  - car_traffic_light_classifier_param_path
  - pedestrian_traffic_light_classifier_param_path
  - traffic_light_roi_visualizer_param_path
  - traffic_light_occlusion_predictor_param_path
  - traffic_light_multi_camera_fusion_param_path
  - traffic_light_arbiter_param_path
  - crosswalk_traffic_light_estimator_param_path
  - tracker_publish_merged_objects
  - use_short_range_detection [default: false]
  - lidar_short_range_detection_model_type [default: centerpoint_short_range]
  - lidar_short_range_detection_model_name [default: centerpoint_short_range]
  - bevfusion_model_path [default: $(var data_path)/bevfusion]
  - centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
  - transfusion_model_path [default: $(var data_path)/lidar_transfusion]
  - short_range_centerpoint_model_path [default: $(var data_path)/lidar_short_range_centerpoint]
  - pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
  - camera_2d_detector/model_path
  - camera_2d_detector/label_path
  - camera_2d_detector/color_map_path
  - input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
  - mode [default: camera_lidar_fusion]
  - data_path [default: $(env HOME)/autoware_data]
  - image_raw0 [default: /sensing/camera/camera0/image_rect_color]
  - camera_info0 [default: /sensing/camera/camera0/camera_info]
  - detection_rois0 [default: /perception/object_recognition/detection/rois0]
  - image_raw1 [default: /sensing/camera/camera1/image_rect_color]
  - camera_info1 [default: /sensing/camera/camera1/camera_info]
  - detection_rois1 [default: /perception/object_recognition/detection/rois1]
  - image_raw2 [default: /sensing/camera/camera2/image_rect_color]
  - camera_info2 [default: /sensing/camera/camera2/camera_info]
  - detection_rois2 [default: /perception/object_recognition/detection/rois2]
  - image_raw3 [default: /sensing/camera/camera3/image_rect_color]
  - camera_info3 [default: /sensing/camera/camera3/camera_info]
  - detection_rois3 [default: /perception/object_recognition/detection/rois3]
  - image_raw4 [default: /sensing/camera/camera4/image_rect_color]
  - camera_info4 [default: /sensing/camera/camera4/camera_info]
  - detection_rois4 [default: /perception/object_recognition/detection/rois4]
  - image_raw5 [default: /sensing/camera/camera5/image_rect_color]
  - camera_info5 [default: /sensing/camera/camera5/camera_info]
  - detection_rois5 [default: /perception/object_recognition/detection/rois5]
  - image_raw6 [default: /sensing/camera/camera6/image_rect_color]
  - camera_info6 [default: /sensing/camera/camera6/camera_info]
  - detection_rois6 [default: /perception/object_recognition/detection/rois6]
  - image_raw7 [default: /sensing/camera/camera7/image_rect_color]
  - camera_info7 [default: /sensing/camera/camera7/camera_info]
  - detection_rois7 [default: /perception/object_recognition/detection/rois7]
  - image_raw8 [default: /sensing/camera/camera8/image_rect_color]
  - camera_info8 [default: /sensing/camera/camera8/camera_info]
  - detection_rois8 [default: /perception/object_recognition/detection/rois8]
  - image_number [default: 6]
  - image_topic_name [default: image_rect_color]
  - segmentation_pointcloud_fusion_camera_ids [default: [0,1,5]]
  - camera_vru_detector_rois_ids [default: [0]]
  - ml_camera_lidar_merger_priority_mode [default: 0]
  - pointcloud_container_name [default: pointcloud_container]
  - input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
  - use_vector_map [default: true]
  - use_pointcloud_map [default: true]
  - use_low_height_cropbox [default: true]
  - use_object_filter [default: true]
  - objects_filter_method [default: lanelet_filter]
  - use_irregular_object_detector [default: true]
  - use_low_intensity_cluster_filter [default: true]
  - use_image_segmentation_based_filter [default: false]
  - use_empty_dynamic_object_publisher [default: false]
  - use_object_validator [default: true]
  - objects_validation_method [default: obstacle_pointcloud]
  - use_perception_online_evaluator [default: false]
  - use_perception_analytics_publisher [default: true]
  - use_obstacle_segmentation_single_frame_filter
  - use_obstacle_segmentation_time_series_filter
  - use_camera_vru_detector [default: false]
  - use_cuda_ground_segmentation [default: false]
  - use_traffic_light_recognition
  - traffic_light_recognition/fusion_only
  - traffic_light_recognition/camera_namespaces
  - traffic_light_recognition/use_high_accuracy_detection
  - traffic_light_recognition/high_accuracy_detection_type
  - input_pointcloud_for_traffic_light_occlusion_predictor
  - traffic_light_recognition/whole_image_detection/model_path
  - traffic_light_recognition/whole_image_detection/label_path
  - traffic_light_recognition/fine_detection/model_path
  - traffic_light_recognition/fine_detection/label_path
  - traffic_light_recognition/classification/car/model_path
  - traffic_light_recognition/classification/car/label_path
  - traffic_light_recognition/classification/pedestrian/model_path
  - traffic_light_recognition/classification/pedestrian/label_path
  - use_detection_by_tracker [default: true]
  - use_radar_tracking_fusion [default: true]
  - input/radar [default: /sensing/radar/detected_objects]
  - use_multi_channel_tracker_merger [default: false]
  - output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
  - downsample_perception_common_pointcloud [default: false]
  - cuda_pointcloud_preprocessing [default: false]
  - common_downsample_voxel_size_x [default: 0.05]
  - common_downsample_voxel_size_y [default: 0.05]
  - common_downsample_voxel_size_z [default: 0.05]
launch/traffic_light_recognition/traffic_light.launch.xml
- - enable_image_decompressor [default: true]
  - fusion_only
  - camera_namespaces
  - use_high_accuracy_detection
  - high_accuracy_detection_type
  - each_traffic_light_map_based_detector_param_path
  - traffic_light_fine_detector_param_path
  - yolox_traffic_light_detector_param_path
  - car_traffic_light_classifier_param_path
  - pedestrian_traffic_light_classifier_param_path
  - traffic_light_roi_visualizer_param_path
  - traffic_light_occlusion_predictor_param_path
  - traffic_light_multi_camera_fusion_param_path
  - traffic_light_arbiter_param_path
  - crosswalk_traffic_light_estimator_param_path
  - whole_image_detection/model_path
  - whole_image_detection/label_path
  - fine_detection/model_path
  - fine_detection/label_path
  - classification/car/model_path
  - classification/car/label_path
  - classification/pedestrian/model_path
  - classification/pedestrian/label_path
  - input/vector_map [default: /map/vector_map]
  - input/route [default: /planning/mission_planning/route]
  - input_pointcloud_for_traffic_light_occlusion_predictor [default: /sensing/lidar/top/pointcloud_raw_ex]
  - internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
  - external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
  - judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
  - output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]

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