From 8fd580b60b8e3e6a0720e1aba332b8a66bd8db26 Mon Sep 17 00:00:00 2001
From: MasatoSaeki <masato.saeki@tier4.jp>
Date: Mon, 10 Feb 2025 13:50:17 +0900
Subject: [PATCH] add args

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
---
 .../launch/components/tier4_perception_component.launch.xml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index c7a027a982..b7ca48db5e 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -21,8 +21,7 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="lidar_detection_model" default="centerpoint" description="If the model name is not declared, the default model in perception.launch.xml will be used"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
-  <arg name="traffic_light_recognition/ml_detection_model_type" default="fine_detection_model" description="select ml model for TL detection: fine_detection_model or whole_image_detection_model"/>
-  <arg name="traffic_light_recognition/whole_image_detector_model_path" default="$(var data_path)"/>
+  <arg name="traffic_light_recognition/ml_detection_model_type" default="whole_image_detection_model" description="select ml model for TL detection: fine_detection_model or whole_image_detection_model"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- Options to Switch Launch Function/Module -->
@@ -52,7 +51,6 @@
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
     <arg name="traffic_light_recognition/use_ml_detector" value="$(var traffic_light_recognition/use_ml_detector)"/>
     <arg name="traffic_light_recognition/ml_detection_model_type" value="$(var traffic_light_recognition/ml_detection_model_type)"/>
-    <arg name="traffic_light_recognition/whole_image_detector_model_path" value="$(var traffic_light_recognition/whole_image_detector_model_path)"/>
     <arg name="traffic_light_recognition/fusion_only" value="false"/>
     <arg name="all_traffic_light_camera" value="$(var all_traffic_light_camera)"/>
 
@@ -192,6 +190,8 @@
 
     <!-- traffic light recognition parameters -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
+    <arg name="traffic_light_recognition/whole_image_detector_model_path" value="$(var data_path)/tensorrt_yolox"/>
+    <arg name="traffic_light_recognition/whole_image_detector_model_name" value="yolox_s_car_ped_tl_detector_960_960_batch_1.onnx"/>
     <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
     <arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>
     <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>