From 97fb362f065b810a3b0aebc761a098590eea2840 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Thu, 20 Jun 2024 14:56:05 +0900
Subject: [PATCH] chore(tier4_perception_launch): perception launcher
 refactoring second round (#7440)

* feat: separate filters

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: object validator to modular

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: remove default values from subsequent launch files

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: group interfaces and junctions

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Revert "chore: group interfaces and junctions"

This reverts commit 9d723c33c260a9a0ac896bdf81c2a6ebeb981479.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: group interfaces and junctions

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: radar input

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: remove defaults from camera inputs

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: rename camera args

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: reorder

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: remove defaults from lidar interface

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Add use_pointcloud_map and use_validator arguments to detection.launch.xml

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: remove default from validators and filters

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: pointcloud container node name

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Add use_low_intensity_cluster_filter argument to launch files

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: on off detector and merger

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: radar_far/objects default

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: radar object filter parameter

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../detection/detection.launch.xml            | 447 ++++++++++--------
 .../detector/camera_lidar_detector.launch.xml | 239 +++++-----
 .../detector/lidar_dnn_detector.launch.xml    |   5 +-
 .../detector/lidar_rule_detector.launch.xml   |  12 +-
 .../detection/filter/object_filter.launch.xml |   6 +-
 .../filter/object_validator.launch.xml        |   8 +-
 .../detection/filter/radar_filter.launch.xml  |   8 +-
 .../merger/camera_lidar_merger.launch.xml     |  89 ++--
 .../camera_lidar_radar_merger.launch.xml      |  91 ++--
 .../detection/merger/lidar_merger.launch.xml  |  16 +-
 .../launch/perception.launch.xml              |  59 ++-
 11 files changed, 540 insertions(+), 440 deletions(-)

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 754d07c6d99bf..228b4c89f95d3 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
@@ -1,223 +1,280 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface parameters -->
-  <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <!-- Pipeline junctions -->
+  <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="use_object_filter" description="use object filter"/>
+  <arg name="objects_filter_method" description="options: `lanelet_filter` or `position_filter`"/>
+  <arg name="use_pointcloud_map" description="use pointcloud map filter"/>
   <arg name="use_detection_by_tracker"/>
+  <arg name="use_validator" description="use obstacle_pointcloud based validator"/>
+  <arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
+  <arg name="use_low_intensity_cluster_filter"/>
 
-  <!-- Lidar parameters -->
+  <!-- Lidar interfaces -->
   <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="node/pointcloud_container"/>
 
-  <!-- Camera parameters -->
-  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
-  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
-  <arg name="image_raw1" default=""/>
-  <arg name="camera_info1" default=""/>
-  <arg name="image_raw2" default=""/>
-  <arg name="camera_info2" default=""/>
-  <arg name="image_raw3" default=""/>
-  <arg name="camera_info3" default=""/>
-  <arg name="image_raw4" default=""/>
-  <arg name="camera_info4" default=""/>
-  <arg name="image_raw5" default=""/>
-  <arg name="camera_info5" default=""/>
-  <arg name="image_raw6" default=""/>
-  <arg name="camera_info6" default=""/>
-  <arg name="image_raw7" default=""/>
-  <arg name="camera_info7" default=""/>
-  <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
+  <!-- Camera interfaces -->
+  <arg name="number_of_cameras"/>
+  <arg name="input/camera0/image"/>
+  <arg name="input/camera0/info"/>
+  <arg name="input/camera0/rois"/>
+  <arg name="input/camera1/image"/>
+  <arg name="input/camera1/info"/>
+  <arg name="input/camera1/rois"/>
+  <arg name="input/camera2/image"/>
+  <arg name="input/camera2/info"/>
+  <arg name="input/camera2/rois"/>
+  <arg name="input/camera3/image"/>
+  <arg name="input/camera3/info"/>
+  <arg name="input/camera3/rois"/>
+  <arg name="input/camera4/image"/>
+  <arg name="input/camera4/info"/>
+  <arg name="input/camera4/rois"/>
+  <arg name="input/camera5/image"/>
+  <arg name="input/camera5/info"/>
+  <arg name="input/camera5/rois"/>
+  <arg name="input/camera6/image"/>
+  <arg name="input/camera6/info"/>
+  <arg name="input/camera6/rois"/>
+  <arg name="input/camera7/image"/>
+  <arg name="input/camera7/info"/>
+  <arg name="input/camera7/rois"/>
 
-  <!-- Radar parameters -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
+  <!-- Radar interfaces -->
+  <arg name="input/radar"/>
 
-  <!-- Camera-Lidar-Radar fusion based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
+  <!-- Module switching -->
+  <arg name="switch/detector/camera_lidar" default="false"/>
+  <arg name="switch/detector/lidar_dnn" default="false"/>
+  <arg name="switch/detector/lidar_rule" default="false"/>
+  <arg name="switch/detector/radar" default="false"/>
+  <arg name="switch/detector/radar_only" default="false"/>
+  <arg name="switch/detector/tracker_based" default="false"/>
+  <let name="switch/detector/tracker_based" value="true" if="$(var use_detection_by_tracker)"/>
+
+  <arg name="switch/merger/camera_lidar_radar" default="false"/>
+  <arg name="switch/merger/camera_lidar" default="false"/>
+  <arg name="switch/merger/lidar_radar" default="false"/>
+  <arg name="switch/merger/lidar" default="false"/>
+
+  <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
+    <let name="switch/detector/camera_lidar" value="true"/>
+    <let name="switch/detector/lidar_dnn" value="true"/>
+    <let name="switch/detector/radar" value="true"/>
+    <let name="switch/merger/camera_lidar_radar" value="true"/>
+  </group>
+  <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
+    <let name="switch/detector/camera_lidar" value="true"/>
+    <let name="switch/detector/lidar_dnn" value="true"/>
+    <let name="switch/merger/camera_lidar" value="true"/>
+  </group>
+  <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
+    <let name="switch/detector/lidar_dnn" value="true"/>
+    <let name="switch/detector/lidar_rule" value="true"/>
+    <let name="switch/detector/radar" value="true"/>
+    <let name="switch/merger/lidar_radar" value="true"/>
+  </group>
+  <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
+    <let name="switch/detector/lidar_dnn" value="true"/>
+    <let name="switch/detector/lidar_rule" value="true"/>
+    <let name="switch/merger/lidar" value="true"/>
+  </group>
+  <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
+    <let name="switch/detector/radar_only" value="true"/>
+    <let name="switch/detector/tracker_based" value="false"/>
+  </group>
+
+  <!-- Detector -->
+  <group if="$(var switch/detector/camera_lidar)">
     <!-- Camera-Lidar detectors -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
+      <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
+      <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
+      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
+      <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
+      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
+      <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
+      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
+      <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
+      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
+      <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
+      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
+      <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
+      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
+      <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
+      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
+      <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
+      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="image_number" value="$(var image_number)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
+      <arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
     </include>
+  </group>
+  <group if="$(var switch/detector/lidar_dnn)">
     <!-- Lidar dnn-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
-    <!-- Radar detector/filter-->
-    <group>
-      <push-ros-namespace namespace="radar"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
-        <arg name="input/radar" value="$(var input/radar)"/>
-        <arg name="output/objects" value="far_objects"/>
-        <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
-        <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
-        <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
-        <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
-        <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
-      </include>
-    </group>
-    <!-- DetectionByTracker -->
-    <group if="$(var use_detection_by_tracker)">
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
-        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-      </include>
-    </group>
-    <!-- Object merger -->
+  </group>
+  <group if="$(var switch/detector/lidar_rule)">
+    <!-- Lidar rule-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
+      <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+    </include>
+  </group>
+  <group if="$(var switch/detector/radar)">
+    <!-- Radar detector/filter, in case of sensor fusion-->
+    <push-ros-namespace namespace="radar"/>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
+      <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="output/objects" value="far_objects"/>
+      <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
+      <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
+      <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
+      <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
+      <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
+    </include>
+  </group>
+  <group if="$(var switch/detector/radar_only)">
+    <!-- Radar detector/filter, in case of radar only -->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
+      <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="output/objects" value="objects"/>
+      <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
+      <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
+      <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
+      <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
+      <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
+    </include>
+  </group>
+  <!-- DetectionByTracker -->
+  <group if="$(var switch/detector/tracker_based)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+    </include>
+  </group>
+
+  <!-- Merger -->
+  <group if="$(var switch/merger/camera_lidar_radar)">
+    <!-- Camera-Lidar-Radar merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="image_number" value="$(var image_number)"/>
+      <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
+      <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
+      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
+      <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
+      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
+      <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
+      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
+      <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
+      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
+      <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
+      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
+      <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
+      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
+      <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
+      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
+      <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
+      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
+      <arg name="use_validator" value="$(var use_validator)"/>
+      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
       <arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
   </group>
 
-  <!-- Camera-Lidar fusion based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
-    <!-- Camera-Lidar detectors -->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="image_number" value="$(var image_number)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
-      <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
-    </include>
-    <!-- Lidar dnn-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-    </include>
-    <!-- DetectionByTracker -->
-    <group if="$(var use_detection_by_tracker)">
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
-        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-      </include>
-    </group>
-    <!-- Object merger -->
+  <group if="$(var switch/merger/camera_lidar)">
+    <!-- Camera-Lidar merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="image_number" value="$(var image_number)"/>
+      <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
+      <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
+      <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
+      <arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
+      <arg name="input/camera1/image" value="$(var input/camera1/image)"/>
+      <arg name="input/camera1/info" value="$(var input/camera1/info)"/>
+      <arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
+      <arg name="input/camera2/image" value="$(var input/camera2/image)"/>
+      <arg name="input/camera2/info" value="$(var input/camera2/info)"/>
+      <arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
+      <arg name="input/camera3/image" value="$(var input/camera3/image)"/>
+      <arg name="input/camera3/info" value="$(var input/camera3/info)"/>
+      <arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
+      <arg name="input/camera4/image" value="$(var input/camera4/image)"/>
+      <arg name="input/camera4/info" value="$(var input/camera4/info)"/>
+      <arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
+      <arg name="input/camera5/image" value="$(var input/camera5/image)"/>
+      <arg name="input/camera5/info" value="$(var input/camera5/info)"/>
+      <arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
+      <arg name="input/camera6/image" value="$(var input/camera6/image)"/>
+      <arg name="input/camera6/info" value="$(var input/camera6/info)"/>
+      <arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
+      <arg name="input/camera7/image" value="$(var input/camera7/image)"/>
+      <arg name="input/camera7/info" value="$(var input/camera7/info)"/>
+      <arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
+      <arg name="use_validator" value="$(var use_validator)"/>
+      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
 
-  <!-- Lidar-Radar fusion based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
-    <!-- Radar detector/filter-->
-    <group>
-      <push-ros-namespace namespace="radar"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
-        <arg name="input/radar" value="$(var input/radar)"/>
-        <arg name="output/objects" value="far_objects"/>
-        <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
-        <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
-        <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
-        <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
-        <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
-      </include>
-    </group>
-    <!-- Lidar dnn-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-    </include>
-    <!-- Lidar rule-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    </include>
-    <!-- DetectionByTracker -->
-    <group if="$(var use_detection_by_tracker)">
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
-        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-      </include>
-    </group>
-    <!-- Lidar object merger -->
+  <group if="$(var switch/merger/lidar_radar)">
+    <!-- Lidar object merger-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output/objects" value="lidar/objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
+      <arg name="use_validator" value="$(var use_validator)"/>
+      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
     </include>
     <!-- Lidar-Radar object merger-->
     <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
@@ -227,45 +284,19 @@
     </include>
   </group>
 
-  <!-- Lidar based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
-    <!-- Lidar dnn-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-    </include>
-    <!-- Lidar rule-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    </include>
-    <!-- DetectionByTracker -->
-    <group if="$(var use_detection_by_tracker)">
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
-        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-      </include>
-    </group>
-    <!-- Lidar object merger -->
+  <group if="$(var switch/merger/lidar)">
+    <!-- Lidar object merger-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
+      <arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="output/objects" value="objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-    </include>
-  </group>
-
-  <!-- Radar based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
-    <!-- Radar detector/filter-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
-      <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="output/objects" value="objects"/>
-      <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
-      <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
-      <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
-      <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
-      <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
+      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
+      <arg name="use_validator" value="$(var use_validator)"/>
+      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index fe0ba0e614e60..3c8480038f320 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -2,93 +2,94 @@
 <launch>
   <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
+  <arg name="node/pointcloud_container"/>
 
   <!-- Lidar + Camera detector parameters -->
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="use_roi_based_cluster" default="false"/>
-  <arg name="use_low_intensity_cluster_filter" default="false"/>
+  <arg name="lidar_detection_model" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="use_roi_based_cluster"/>
+  <arg name="use_low_intensity_cluster_filter"/>
 
   <!-- Camera parameters -->
-  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
-  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
-  <arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
-  <arg name="image_raw1" default="/image_raw1"/>
-  <arg name="camera_info1" default="/camera_info1"/>
-  <arg name="detection_rois1" default="/perception/object_recognition/detection/rois1"/>
-  <arg name="image_raw2" default="/image_raw2"/>
-  <arg name="camera_info2" default="/camera_info2"/>
-  <arg name="detection_rois2" default="/perception/object_recognition/detection/rois2"/>
-  <arg name="image_raw3" default="/image_raw3"/>
-  <arg name="camera_info3" default="/camera_info3"/>
-  <arg name="detection_rois3" default="/perception/object_recognition/detection/rois3"/>
-  <arg name="image_raw4" default="/image_raw4"/>
-  <arg name="camera_info4" default="/camera_info4"/>
-  <arg name="detection_rois4" default="/perception/object_recognition/detection/rois4"/>
-  <arg name="image_raw5" default="/image_raw5"/>
-  <arg name="camera_info5" default="/camera_info5"/>
-  <arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
-  <arg name="image_raw6" default="/image_raw6"/>
-  <arg name="camera_info6" default="/camera_info6"/>
-  <arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
-  <arg name="image_raw7" default="/image_raw7"/>
-  <arg name="camera_info7" default="/camera_info7"/>
-  <arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
-  <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
+  <arg name="number_of_cameras"/>
+  <arg name="input/camera0/image"/>
+  <arg name="input/camera0/info"/>
+  <arg name="input/camera0/rois"/>
+  <arg name="input/camera1/image"/>
+  <arg name="input/camera1/info"/>
+  <arg name="input/camera1/rois"/>
+  <arg name="input/camera2/image"/>
+  <arg name="input/camera2/info"/>
+  <arg name="input/camera2/rois"/>
+  <arg name="input/camera3/image"/>
+  <arg name="input/camera3/info"/>
+  <arg name="input/camera3/rois"/>
+  <arg name="input/camera4/image"/>
+  <arg name="input/camera4/info"/>
+  <arg name="input/camera4/rois"/>
+  <arg name="input/camera5/image"/>
+  <arg name="input/camera5/info"/>
+  <arg name="input/camera5/rois"/>
+  <arg name="input/camera6/image"/>
+  <arg name="input/camera6/info"/>
+  <arg name="input/camera6/rois"/>
+  <arg name="input/camera7/image"/>
+  <arg name="input/camera7/info"/>
+  <arg name="input/camera7/rois"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
-    <arg name="image_raw0" value="$(var image_raw0)"/>
-    <arg name="image_raw1" value="$(var image_raw1)"/>
-    <arg name="image_raw2" value="$(var image_raw2)"/>
-    <arg name="image_raw3" value="$(var image_raw3)"/>
-    <arg name="image_raw4" value="$(var image_raw4)"/>
-    <arg name="image_raw5" value="$(var image_raw5)"/>
-    <arg name="image_raw6" value="$(var image_raw6)"/>
-    <arg name="image_raw7" value="$(var image_raw7)"/>
-    <arg name="image_number" value="$(var image_number)"/>
+    <arg name="image_raw0" value="$(var input/camera0/image)"/>
+    <arg name="image_raw1" value="$(var input/camera1/image)"/>
+    <arg name="image_raw2" value="$(var input/camera2/image)"/>
+    <arg name="image_raw3" value="$(var input/camera3/image)"/>
+    <arg name="image_raw4" value="$(var input/camera4/image)"/>
+    <arg name="image_raw5" value="$(var input/camera5/image)"/>
+    <arg name="image_raw6" value="$(var input/camera6/image)"/>
+    <arg name="image_raw7" value="$(var input/camera7/image)"/>
+    <arg name="image_number" value="$(var number_of_cameras)"/>
   </include> -->
 
   <!-- PointPainting -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
     <push-ros-namespace namespace="pointpainting"/>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var camera_info0)"/>
-      <arg name="input/rois0" value="$(var detection_rois0)"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="$(var detection_rois1)"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="$(var detection_rois2)"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="$(var detection_rois3)"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="$(var detection_rois4)"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="$(var detection_rois5)"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="$(var detection_rois6)"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="$(var detection_rois7)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="input/rois_number" value="$(var number_of_cameras)"/>
+      <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+      <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+      <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+      <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+      <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+      <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+      <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+      <arg name="input/rois7" value="$(var input/camera7/rois)"/>
+      <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+      <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+      <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+      <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+      <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+      <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+      <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+      <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+      <arg name="input/image0" value="$(var input/camera0/image)"/>
+      <arg name="input/image1" value="$(var input/camera1/image)"/>
+      <arg name="input/image2" value="$(var input/camera2/image)"/>
+      <arg name="input/image3" value="$(var input/camera3/image)"/>
+      <arg name="input/image4" value="$(var input/camera4/image)"/>
+      <arg name="input/image5" value="$(var input/camera5/image)"/>
+      <arg name="input/image6" value="$(var input/camera6/image)"/>
+      <arg name="input/image7" value="$(var input/camera7/image)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/objects" value="objects"/>
+
       <arg name="model_name" value="$(var lidar_detection_model)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
       <arg name="model_param_path" value="$(var lidar_model_param_path)/pointpainting.param.yaml"/>
       <arg name="ml_package_param_path" value="$(var model_path)/pointpainting_ml_package.param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
-
       <arg name="use_pointcloud_container" value="true"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
     </include>
   </group>
 
@@ -99,7 +100,7 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
@@ -111,7 +112,7 @@
       <let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(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="input_pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
         <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       </include>
@@ -122,32 +123,32 @@
       <push-ros-namespace namespace="roi_cluster"/>
       <group>
         <include file="$(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)"/>
-          <arg name="input/rois1" value="$(var detection_rois1)"/>
-          <arg name="input/camera_info2" value="$(var camera_info2)"/>
-          <arg name="input/rois2" value="$(var detection_rois2)"/>
-          <arg name="input/camera_info3" value="$(var camera_info3)"/>
-          <arg name="input/rois3" value="$(var detection_rois3)"/>
-          <arg name="input/camera_info4" value="$(var camera_info4)"/>
-          <arg name="input/rois4" value="$(var detection_rois4)"/>
-          <arg name="input/camera_info5" value="$(var camera_info5)"/>
-          <arg name="input/rois5" value="$(var detection_rois5)"/>
-          <arg name="input/camera_info6" value="$(var camera_info6)"/>
-          <arg name="input/rois6" value="$(var detection_rois6)"/>
-          <arg name="input/camera_info7" value="$(var camera_info7)"/>
-          <arg name="input/rois7" value="$(var detection_rois7)"/>
-          <arg name="input/rois_number" value="$(var image_number)"/>
-          <arg name="input/image0" value="$(var image_raw0)"/>
-          <arg name="input/image1" value="$(var image_raw1)"/>
-          <arg name="input/image2" value="$(var image_raw2)"/>
-          <arg name="input/image3" value="$(var image_raw3)"/>
-          <arg name="input/image4" value="$(var image_raw4)"/>
-          <arg name="input/image5" value="$(var image_raw5)"/>
-          <arg name="input/image6" value="$(var image_raw6)"/>
-          <arg name="input/image7" value="$(var image_raw7)"/>
-          <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+          <arg name="input/rois_number" value="$(var number_of_cameras)"/>
+          <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+          <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+          <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+          <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+          <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+          <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+          <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+          <arg name="input/rois7" value="$(var input/camera7/rois)"/>
+          <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+          <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+          <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+          <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+          <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+          <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+          <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+          <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+          <arg name="input/image0" value="$(var input/camera0/image)"/>
+          <arg name="input/image1" value="$(var input/camera1/image)"/>
+          <arg name="input/image2" value="$(var input/camera2/image)"/>
+          <arg name="input/image3" value="$(var input/camera3/image)"/>
+          <arg name="input/image4" value="$(var input/camera4/image)"/>
+          <arg name="input/image5" value="$(var input/camera5/image)"/>
+          <arg name="input/image6" value="$(var input/camera6/image)"/>
+          <arg name="input/image7" value="$(var input/camera7/image)"/>
+          <arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
           <arg name="output_clusters" value="clusters"/>
           <arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
         </include>
@@ -178,32 +179,32 @@
       <!-- euclidean clustering -->
       <group>
         <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
-          <arg name="input/camera_info0" value="$(var camera_info0)"/>
-          <arg name="input/rois0" value="$(var detection_rois0)"/>
-          <arg name="input/camera_info1" value="$(var camera_info1)"/>
-          <arg name="input/rois1" value="$(var detection_rois1)"/>
-          <arg name="input/camera_info2" value="$(var camera_info2)"/>
-          <arg name="input/rois2" value="$(var detection_rois2)"/>
-          <arg name="input/camera_info3" value="$(var camera_info3)"/>
-          <arg name="input/rois3" value="$(var detection_rois3)"/>
-          <arg name="input/camera_info4" value="$(var camera_info4)"/>
-          <arg name="input/rois4" value="$(var detection_rois4)"/>
-          <arg name="input/camera_info5" value="$(var camera_info5)"/>
-          <arg name="input/rois5" value="$(var detection_rois5)"/>
-          <arg name="input/camera_info6" value="$(var camera_info6)"/>
-          <arg name="input/rois6" value="$(var detection_rois6)"/>
-          <arg name="input/camera_info7" value="$(var camera_info7)"/>
-          <arg name="input/rois7" value="$(var detection_rois7)"/>
-          <arg name="input/rois_number" value="$(var image_number)"/>
+          <arg name="input/rois_number" value="$(var number_of_cameras)"/>
+          <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+          <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+          <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+          <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+          <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+          <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+          <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+          <arg name="input/rois7" value="$(var input/camera7/rois)"/>
+          <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+          <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+          <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+          <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+          <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+          <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+          <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+          <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+          <arg name="input/image0" value="$(var input/camera0/image)"/>
+          <arg name="input/image1" value="$(var input/camera1/image)"/>
+          <arg name="input/image2" value="$(var input/camera2/image)"/>
+          <arg name="input/image3" value="$(var input/camera3/image)"/>
+          <arg name="input/image4" value="$(var input/camera4/image)"/>
+          <arg name="input/image5" value="$(var input/camera5/image)"/>
+          <arg name="input/image6" value="$(var input/camera6/image)"/>
+          <arg name="input/image7" value="$(var input/camera7/image)"/>
           <arg name="input/clusters" value="$(var input/clustering)"/>
-          <arg name="input/image0" value="$(var image_raw0)"/>
-          <arg name="input/image1" value="$(var image_raw1)"/>
-          <arg name="input/image2" value="$(var image_raw2)"/>
-          <arg name="input/image3" value="$(var image_raw3)"/>
-          <arg name="input/image4" value="$(var image_raw4)"/>
-          <arg name="input/image5" value="$(var image_raw5)"/>
-          <arg name="input/image6" value="$(var image_raw6)"/>
-          <arg name="input/image7" value="$(var image_raw7)"/>
           <arg name="output/clusters" value="clusters"/>
           <arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
         </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index 274b39be681b8..ab34cc49dd2f6 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -2,6 +2,7 @@
 <launch>
   <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
+  <arg name="node/pointcloud_container"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `clustering`"/>
 
   <!-- Lidar detector centerpoint parameters -->
@@ -27,7 +28,7 @@
         <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
 
         <arg name="use_pointcloud_container" value="true"/>
-        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       </include>
     </group>
   </group>
@@ -48,7 +49,7 @@
         <arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
 
         <arg name="use_pointcloud_container" value="true"/>
-        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       </include>
     </group>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
index e78823429195f..819a6337138a1 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -1,8 +1,10 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Lidar parameters -->
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
+  <arg name="node/pointcloud_container"/>
+  <arg name="use_pointcloud_map"/>
 
   <!-- Pointcloud filter -->
   <group>
@@ -11,7 +13,7 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
@@ -21,12 +23,12 @@
     <push-ros-namespace namespace="clustering"/>
     <group>
       <include file="$(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="input_pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
 
         <arg name="use_pointcloud_container" value="true"/>
-        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       </include>
     </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
index 7047aec77c660..d7bbcb01472eb 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Pipeline junctions -->
-  <arg name="objects_filter_method" default="lanelet_filter" description="lanelet_filter or position_filter"/>
+  <arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
 
   <!-- external interfaces -->
-  <arg name="input/objects" default="clustering/camera_lidar_fusion/objects"/>
-  <arg name="output/objects" default="clustering/camera_lidar_fusion/filtered/objects"/>
+  <arg name="input/objects"/>
+  <arg name="output/objects"/>
 
   <!-- Filter -->
   <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
index b3704f130232a..9a09ad2871e85 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Pipeline junctions -->
-  <arg name="objects_validation_method" default="obstacle_pointcloud" description="obstacle_pointcloud or occupancy_grid"/>
+  <arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
 
   <!-- external interfaces -->
-  <arg name="input/obstacle_pointcloud" default="pointcloud_map_filtered/pointcloud" description="Only required when 'obstacle_pointcloud'"/>
-  <arg name="input/objects" default="centerpoint/objects"/>
-  <arg name="output/objects" default="centerpoint/validation/objects"/>
+  <arg name="input/obstacle_pointcloud" description="Only required when 'obstacle_pointcloud'"/>
+  <arg name="input/objects"/>
+  <arg name="output/objects"/>
 
   <!-- Validator -->
   <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
index d837505649cf1..fe7ab70e9331e 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
@@ -4,12 +4,12 @@
   <arg name="radar_crossing_objects_noise_filter_param_path"/>
   <arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
   <arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
-  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
+  <arg name="radar_lanelet_filtering_range_param_path" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
 
   <!-- External interfaces -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <arg name="output/objects" default="far_objects"/>
+  <arg name="input/radar"/>
+  <arg name="output/objects"/>
 
   <!-- Radar filter pipeline -->
   <include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
@@ -36,7 +36,7 @@
   <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
     <arg name="input/object" value="far_high_speed_objects"/>
     <arg name="output/object" value="lanelet_filtered_objects"/>
-    <arg name="filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
+    <arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
index 5bcfe49643dce..85b404ba89b1f 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -8,17 +8,42 @@
   <arg name="lidar_detection_model"/>
   <arg name="use_detection_by_tracker"/>
 
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+  <arg name="use_validator"/>
+  <arg name="objects_validation_method"/>
   <arg name="use_pointcloud_map"/>
-  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
 
-  <arg name="objects_filter_method" default="lanelet_filter"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="use_object_filter" description="use object filter"/>
+  <arg name="objects_filter_method"/>
   <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
 
   <!-- external interfaces -->
-  <arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="number_of_cameras"/>
+  <arg name="input/camera0/image"/>
+  <arg name="input/camera0/info"/>
+  <arg name="input/camera0/rois"/>
+  <arg name="input/camera1/image"/>
+  <arg name="input/camera1/info"/>
+  <arg name="input/camera1/rois"/>
+  <arg name="input/camera2/image"/>
+  <arg name="input/camera2/info"/>
+  <arg name="input/camera2/rois"/>
+  <arg name="input/camera3/image"/>
+  <arg name="input/camera3/info"/>
+  <arg name="input/camera3/rois"/>
+  <arg name="input/camera4/image"/>
+  <arg name="input/camera4/info"/>
+  <arg name="input/camera4/rois"/>
+  <arg name="input/camera5/image"/>
+  <arg name="input/camera5/info"/>
+  <arg name="input/camera5/rois"/>
+  <arg name="input/camera6/image"/>
+  <arg name="input/camera6/info"/>
+  <arg name="input/camera6/rois"/>
+  <arg name="input/camera7/image"/>
+  <arg name="input/camera7/info"/>
+  <arg name="input/camera7/rois"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
   <arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
   <arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
   <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
@@ -51,31 +76,31 @@
   <!-- Camera ROI fusion -->
   <group>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var camera_info0)"/>
-      <arg name="input/rois0" value="$(var detection_rois0)"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="$(var detection_rois1)"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="$(var detection_rois2)"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="$(var detection_rois3)"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="$(var detection_rois4)"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="$(var detection_rois5)"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="$(var detection_rois6)"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="$(var detection_rois7)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="input/rois_number" value="$(var number_of_cameras)"/>
+      <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+      <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+      <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+      <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+      <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+      <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+      <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+      <arg name="input/rois7" value="$(var input/camera7/rois)"/>
+      <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+      <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+      <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+      <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+      <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+      <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+      <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+      <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+      <arg name="input/image0" value="$(var input/camera0/image)"/>
+      <arg name="input/image1" value="$(var input/camera1/image)"/>
+      <arg name="input/image2" value="$(var input/camera2/image)"/>
+      <arg name="input/image3" value="$(var input/camera3/image)"/>
+      <arg name="input/image4" value="$(var input/camera4/image)"/>
+      <arg name="input/image5" value="$(var input/camera5/image)"/>
+      <arg name="input/image6" value="$(var input/camera6/image)"/>
+      <arg name="input/image7" value="$(var input/camera7/image)"/>
       <arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
       <arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
       <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
@@ -83,7 +108,7 @@
   </group>
 
   <!-- Validator -->
-  <group>
+  <group if="$(var use_validator)">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
       <arg name="input/objects" value="$(var validator/input/objects)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
index 07ab78cd37f72..16ec8f8fbd573 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -11,21 +11,46 @@
   <arg name="use_detection_by_tracker"/>
   <arg name="use_near_radar_fusion" default="false"/>
 
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+  <arg name="use_validator"/>
+  <arg name="objects_validation_method"/>
   <arg name="use_pointcloud_map"/>
-  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
 
-  <arg name="objects_filter_method" default="lanelet_filter"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="use_object_filter" description="use object filter"/>
+  <arg name="objects_filter_method"/>
   <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
 
   <!-- external interfaces -->
-  <arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="number_of_cameras"/>
+  <arg name="input/camera0/image"/>
+  <arg name="input/camera0/info"/>
+  <arg name="input/camera0/rois"/>
+  <arg name="input/camera1/image"/>
+  <arg name="input/camera1/info"/>
+  <arg name="input/camera1/rois"/>
+  <arg name="input/camera2/image"/>
+  <arg name="input/camera2/info"/>
+  <arg name="input/camera2/rois"/>
+  <arg name="input/camera3/image"/>
+  <arg name="input/camera3/info"/>
+  <arg name="input/camera3/rois"/>
+  <arg name="input/camera4/image"/>
+  <arg name="input/camera4/info"/>
+  <arg name="input/camera4/rois"/>
+  <arg name="input/camera5/image"/>
+  <arg name="input/camera5/info"/>
+  <arg name="input/camera5/rois"/>
+  <arg name="input/camera6/image"/>
+  <arg name="input/camera6/info"/>
+  <arg name="input/camera6/rois"/>
+  <arg name="input/camera7/image"/>
+  <arg name="input/camera7/info"/>
+  <arg name="input/camera7/rois"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
   <arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
   <arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
   <arg name="input/radar_near/objects" default="radar/noise_filtered_objects"/>
-  <arg name="input/radar_far/objects" default="radar/noise_filtered_objects"/>
+  <arg name="input/radar_far/objects" default="radar/far_objects"/>
   <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
   <arg name="output/objects" default="objects"/>
 
@@ -74,31 +99,31 @@
   <!-- Camera ROI fusion -->
   <group>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var camera_info0)"/>
-      <arg name="input/rois0" value="$(var detection_rois0)"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="$(var detection_rois1)"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="$(var detection_rois2)"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="$(var detection_rois3)"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="$(var detection_rois4)"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="$(var detection_rois5)"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="$(var detection_rois6)"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="$(var detection_rois7)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="input/rois_number" value="$(var number_of_cameras)"/>
+      <arg name="input/rois0" value="$(var input/camera0/rois)"/>
+      <arg name="input/rois1" value="$(var input/camera1/rois)"/>
+      <arg name="input/rois2" value="$(var input/camera2/rois)"/>
+      <arg name="input/rois3" value="$(var input/camera3/rois)"/>
+      <arg name="input/rois4" value="$(var input/camera4/rois)"/>
+      <arg name="input/rois5" value="$(var input/camera5/rois)"/>
+      <arg name="input/rois6" value="$(var input/camera6/rois)"/>
+      <arg name="input/rois7" value="$(var input/camera7/rois)"/>
+      <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
+      <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
+      <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
+      <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
+      <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
+      <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
+      <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
+      <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
+      <arg name="input/image0" value="$(var input/camera0/image)"/>
+      <arg name="input/image1" value="$(var input/camera1/image)"/>
+      <arg name="input/image2" value="$(var input/camera2/image)"/>
+      <arg name="input/image3" value="$(var input/camera3/image)"/>
+      <arg name="input/image4" value="$(var input/camera4/image)"/>
+      <arg name="input/image5" value="$(var input/camera5/image)"/>
+      <arg name="input/image6" value="$(var input/camera6/image)"/>
+      <arg name="input/image7" value="$(var input/camera7/image)"/>
       <arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
       <arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
       <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
@@ -106,7 +131,7 @@
   </group>
 
   <!-- Validator -->
-  <group>
+  <group if="$(var use_validator)">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
       <arg name="input/objects" value="$(var validator/input/objects)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
index f0ce19db6c342..c82de41a28b50 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
@@ -8,21 +8,21 @@
   <arg name="lidar_detection_model"/>
   <arg name="use_detection_by_tracker"/>
 
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+  <arg name="use_validator" description="use obstacle_pointcloud based validator"/>
+  <arg name="objects_validation_method"/>
   <arg name="use_pointcloud_map"/>
-  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
 
-  <arg name="objects_filter_method" default="lanelet_filter"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="use_object_filter" description="use object filter"/>
+  <arg name="objects_filter_method"/>
   <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
 
   <!-- external interfaces -->
-  <arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
   <arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
   <arg name="input/lidar_rule/objects" default="clustering/objects"/>
   <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
-  <arg name="output/objects" default="objects"/>
+  <arg name="output/objects"/>
 
   <!-- internal interfaces -->
   <let name="validator/input/objects" value="$(var input/lidar_ml/objects)"/>
@@ -46,7 +46,7 @@
   <let name="filter/output/objects" value="$(var output/objects)"/>
 
   <!-- Validator -->
-  <group>
+  <group if="$(var use_validator)">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
       <arg name="input/objects" value="$(var validator/input/objects)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index dd80ab5b2cde7..8f0513bcd5446 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -77,6 +77,7 @@
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <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="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
   <arg name="use_roi_based_cluster" default="true" description="use roi_based_cluster in clustering"/>
   <arg name="use_low_intensity_cluster_filter" default="true" description="use low_intensity_cluster_filter in clustering"/>
   <arg
@@ -85,8 +86,8 @@
     description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
   />
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="objects_filter_method" default="lanelet_filter"/>
-  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="use_object_validator" default="true" description="use obstacle_pointcloud based object validator"/>
+  <arg name="objects_validation_method" default="obstacle_pointcloud" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
   <arg name="use_perception_online_evaluator" default="false" description="use perception online evaluator"/>
 
   <!-- Traffic light recognition parameters -->
@@ -115,12 +116,13 @@
   <!-- Whether to use detection by tracker -->
   <arg name="use_detection_by_tracker" default="true"/>
 
-  <!-- Radar long range integration methods -->
+  <!-- Radar parameters -->
   <arg
     name="use_radar_tracking_fusion"
     default="true"
     description="if use_radar_tracking_fusion:=true, radar information is merged in tracking launch. Otherwise, radar information is merged in detection launch."
   />
+  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
 
   <!-- Downsample pointcloud for perception usage -->
   <arg name="downsample_perception_common_pointcloud" default="false"/>
@@ -186,25 +188,35 @@
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
           <arg name="mode" value="$(var mode)"/>
-          <arg name="input/pointcloud" value="$(var perception_pointcloud)"/>
           <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-          <arg name="image_raw0" value="$(var image_raw0)"/>
-          <arg name="camera_info0" value="$(var camera_info0)"/>
-          <arg name="image_raw1" value="$(var image_raw1)"/>
-          <arg name="camera_info1" value="$(var camera_info1)"/>
-          <arg name="image_raw2" value="$(var image_raw2)"/>
-          <arg name="camera_info2" value="$(var camera_info2)"/>
-          <arg name="image_raw3" value="$(var image_raw3)"/>
-          <arg name="camera_info3" value="$(var camera_info3)"/>
-          <arg name="image_raw4" value="$(var image_raw4)"/>
-          <arg name="camera_info4" value="$(var camera_info4)"/>
-          <arg name="image_raw5" value="$(var image_raw5)"/>
-          <arg name="camera_info5" value="$(var camera_info5)"/>
-          <arg name="image_raw6" value="$(var image_raw6)"/>
-          <arg name="camera_info6" value="$(var camera_info6)"/>
-          <arg name="image_raw7" value="$(var image_raw7)"/>
-          <arg name="camera_info7" value="$(var camera_info7)"/>
-          <arg name="image_number" value="$(var image_number)"/>
+          <arg name="number_of_cameras" value="$(var image_number)"/>
+          <arg name="input/camera0/image" value="$(var image_raw0)"/>
+          <arg name="input/camera0/info" value="$(var camera_info0)"/>
+          <arg name="input/camera0/rois" value="$(var detection_rois0)"/>
+          <arg name="input/camera1/image" value="$(var image_raw1)"/>
+          <arg name="input/camera1/info" value="$(var camera_info1)"/>
+          <arg name="input/camera1/rois" value="$(var detection_rois1)"/>
+          <arg name="input/camera2/image" value="$(var image_raw2)"/>
+          <arg name="input/camera2/info" value="$(var camera_info2)"/>
+          <arg name="input/camera2/rois" value="$(var detection_rois2)"/>
+          <arg name="input/camera3/image" value="$(var image_raw3)"/>
+          <arg name="input/camera3/info" value="$(var camera_info3)"/>
+          <arg name="input/camera3/rois" value="$(var detection_rois3)"/>
+          <arg name="input/camera4/image" value="$(var image_raw4)"/>
+          <arg name="input/camera4/info" value="$(var camera_info4)"/>
+          <arg name="input/camera4/rois" value="$(var detection_rois4)"/>
+          <arg name="input/camera5/image" value="$(var image_raw5)"/>
+          <arg name="input/camera5/info" value="$(var camera_info5)"/>
+          <arg name="input/camera5/rois" value="$(var detection_rois5)"/>
+          <arg name="input/camera6/image" value="$(var image_raw6)"/>
+          <arg name="input/camera6/info" value="$(var camera_info6)"/>
+          <arg name="input/camera6/rois" value="$(var detection_rois6)"/>
+          <arg name="input/camera7/image" value="$(var image_raw7)"/>
+          <arg name="input/camera7/info" value="$(var camera_info7)"/>
+          <arg name="input/camera7/rois" value="$(var detection_rois7)"/>
+          <arg name="input/pointcloud" value="$(var perception_pointcloud)"/>
+          <arg name="node/pointcloud_container" value="$(var pointcloud_container_name)"/>
+          <arg name="input/radar" value="$(var input/radar)"/>
           <arg name="sync_param_path" value="$(var object_recognition_detection_fusion_sync_param_path)"/>
           <arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>
           <arg name="roi_pointcloud_fusion_param_path" value="$(var object_recognition_detection_roi_pointcloud_fusion_param_path)"/>
@@ -218,11 +230,14 @@
           <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
 
           <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
+          <arg name="use_validator" value="$(var use_object_validator)"/>
+          <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
           <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
           <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_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
-          <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+          <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
         </include>
       </group>