From cd6ee6d1448870b9d0ce6209ab3420ac01f80dcf Mon Sep 17 00:00:00 2001
From: Tomohito ANDO <tomohito.ando@tier4.jp>
Date: Wed, 19 Feb 2025 09:19:47 +0900
Subject: [PATCH] chore(traffic_light_multi_camera_fusion): read parameters
 from yaml file (#10144)

* chore(traffic_light_multi_camera_fusion): read parameters from yaml file

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* style(pre-commit): autofix

* add all_traffic_light_camera param to launch.xml

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* fix json schema

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* remove camera namespace parameter from config file

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* revert unnecessary change

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* remove camera_namespaces from required

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

---------

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../launch/perception.launch.xml                    |  2 ++
 .../traffic_light.launch.xml                        | 13 ++++++-------
 .../traffic_light_multi_camera_fusion.param.yaml    |  1 -
 .../traffic_light_multi_camera_fusion.launch.xml    |  2 ++
 .../traffic_light_multi_camera_fusion.schema.json   | 10 +---------
 5 files changed, 11 insertions(+), 17 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 42b32195220d1..79ea141b0aa58 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -35,6 +35,7 @@
   <arg name="occupancy_grid_map_updater"/>
   <arg name="occupancy_grid_map_updater_param_path"/>
   <arg name="traffic_light_arbiter_param_path"/>
+  <arg name="traffic_light_multi_camera_fusion_param_path"/>
   <arg name="lidar_detection_model"/>
 
   <!-- ML model parameters -->
@@ -310,6 +311,7 @@
         <arg name="fusion_only" value="$(var traffic_light_recognition/fusion_only)"/>
         <arg name="all_camera_namespaces" value="$(var all_traffic_light_camera)"/>
         <arg name="traffic_light_arbiter_param_path" value="$(var traffic_light_arbiter_param_path)"/>
+        <arg name="traffic_light_multi_camera_fusion_param_path" value="$(var traffic_light_multi_camera_fusion_param_path)"/>
         <arg name="traffic_light_fine_detector_model_path" value="$(var traffic_light_fine_detector_model_path)"/>
         <arg name="traffic_light_fine_detector_model_name" value="$(var traffic_light_fine_detector_model_name)"/>
         <arg name="traffic_light_classifier_model_path" value="$(var traffic_light_classifier_model_path)"/>
diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
index 3957c27dfbad8..58d7d7f3023b2 100644
--- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
+++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
@@ -56,13 +56,12 @@
 
   <!-- traffic_light_multi_camera_fusion -->
   <group>
-    <node pkg="autoware_traffic_light_multi_camera_fusion" exec="traffic_light_multi_camera_fusion_node" name="traffic_light_multi_camera_fusion" output="screen">
-      <param name="camera_namespaces" value="$(var all_camera_namespaces)"/>
-      <param name="message_lifespan" value="0.09"/>
-      <param name="approximate_sync" value="false"/>
-      <remap from="~/input/vector_map" to="/map/vector_map"/>
-      <remap from="~/output/traffic_signals" to="$(var internal/traffic_signals)"/>
-    </node>
+    <include file="$(find-pkg-share autoware_traffic_light_multi_camera_fusion)/launch/traffic_light_multi_camera_fusion.launch.xml">
+      <arg name="camera_namespaces" value="$(var all_camera_namespaces)"/>
+      <arg name="param_path" value="$(var traffic_light_multi_camera_fusion_param_path)"/>
+      <arg name="input/vector_map" value="/map/vector_map"/>
+      <arg name="output/traffic_signals" value="$(var internal/traffic_signals)"/>
+    </include>
   </group>
 
   <!-- V2X fusion -->
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml b/perception/autoware_traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml
index 62f8d47bf7525..711c283bc22b5 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml
+++ b/perception/autoware_traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml
@@ -1,5 +1,4 @@
 /**:
   ros__parameters:
-    camera_namespaces: ["camera6", "camera7"]
     message_lifespan: 0.09
     approximate_sync: false
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/launch/traffic_light_multi_camera_fusion.launch.xml b/perception/autoware_traffic_light_multi_camera_fusion/launch/traffic_light_multi_camera_fusion.launch.xml
index 32e3417cf9029..19e64e8b243be 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/launch/traffic_light_multi_camera_fusion.launch.xml
+++ b/perception/autoware_traffic_light_multi_camera_fusion/launch/traffic_light_multi_camera_fusion.launch.xml
@@ -3,10 +3,12 @@
   <arg name="input/vector_map" default="/map/vector_map"/>
   <arg name="param_path" default="$(find-pkg-share autoware_traffic_light_multi_camera_fusion)/config/traffic_light_multi_camera_fusion.param.yaml"/>
   <arg name="output/traffic_signals" default="/perception/traffic_light_recognition/traffic_signals"/>
+  <arg name="camera_namespaces" default="[camera6, camera7]"/>
 
   <node pkg="autoware_traffic_light_multi_camera_fusion" exec="traffic_light_multi_camera_fusion_node" name="traffic_light_multi_camera_fusion" output="screen">
     <remap from="~/input/vector_map" to="$(var input/vector_map)"/>
     <remap from="~/output/traffic_signals" to="$(var output/traffic_signals)"/>
     <param from="$(var param_path)"/>
+    <param name="camera_namespaces" value="$(var camera_namespaces)"/>
   </node>
 </launch>
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/schema/traffic_light_multi_camera_fusion.schema.json b/perception/autoware_traffic_light_multi_camera_fusion/schema/traffic_light_multi_camera_fusion.schema.json
index bdd6dca516fa5..aea6f16c161c1 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/schema/traffic_light_multi_camera_fusion.schema.json
+++ b/perception/autoware_traffic_light_multi_camera_fusion/schema/traffic_light_multi_camera_fusion.schema.json
@@ -6,14 +6,6 @@
     "autoware_traffic_light_multi_camera_fusion": {
       "type": "object",
       "properties": {
-        "camera_namespaces": {
-          "type": "array",
-          "description": "Camera namespaces to be fused.",
-          "items": {
-            "type": "string"
-          },
-          "default": []
-        },
         "message_lifespan": {
           "type": "number",
           "description": "The maximum timestamp span to be fused.",
@@ -25,7 +17,7 @@
           "default": false
         }
       },
-      "required": ["camera_namespaces", "message_lifespan", "approximate_sync"],
+      "required": ["message_lifespan", "approximate_sync"],
       "additionalProperties": false
     }
   },