diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py
index 16d48313eb2c9..549923b963e62 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py
@@ -87,6 +87,12 @@ def create_compare_map_pipeline(self):
"voxel_size_x": self.voxel_size,
"voxel_size_y": self.voxel_size,
"voxel_size_z": self.voxel_size,
+ "input_frame": "",
+ "output_frame": "",
+ "max_queue_size": 5,
+ "use_indices": False,
+ "latched_indices": False,
+ "approximate_sync": False,
}
],
extra_arguments=[
diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index b25c8f3de9a5b..dc44fdcd8c6a5 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -439,6 +439,10 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con
"voxel_size_x": 0.04,
"voxel_size_y": 0.04,
"voxel_size_z": 0.08,
+ "max_queue_size": 5,
+ "use_indices": False,
+ "latched_indices": False,
+ "approximate_sync": False,
}
],
extra_arguments=[
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 160ddb0285d9b..2b2b9e60ea03b 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -155,6 +155,12 @@
+
+
+
+
+
+
diff --git a/perception/autoware_ground_segmentation/config/ground_segmentation.param.yaml b/perception/autoware_ground_segmentation/config/ground_segmentation.param.yaml
index 4fe68a19fa6e3..c074c04b30d08 100644
--- a/perception/autoware_ground_segmentation/config/ground_segmentation.param.yaml
+++ b/perception/autoware_ground_segmentation/config/ground_segmentation.param.yaml
@@ -19,6 +19,12 @@
radial_divider_angle_deg: 1.0
use_recheck_ground_cluster: true
use_lowest_point: true
+ input_frame: ""
+ output_frame: ""
+ max_queue_size: 5
+ use_indices: false
+ latched_indices: false
+ approximate_sync: false
# debug parameters
publish_processing_time_detail: false
diff --git a/perception/autoware_probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py b/perception/autoware_probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
index 844c7cc0ee473..fed32a7a24241 100644
--- a/perception/autoware_probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
@@ -110,6 +110,12 @@ def get_downsample_filter_node(setting: dict) -> ComposableNode:
"voxel_size_x": voxel_size,
"voxel_size_y": voxel_size,
"voxel_size_z": voxel_size,
+ "input_frame": "",
+ "output_frame": "",
+ "max_queue_size": 5,
+ "use_indices": False,
+ "latched_indices": False,
+ "approximate_sync": False,
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
diff --git a/perception/autoware_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/autoware_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
index 2d70feeb0e357..7770d682e1d0d 100644
--- a/perception/autoware_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
@@ -43,6 +43,12 @@ def get_downsample_filter_node(setting: dict) -> ComposableNode:
"voxel_size_x": voxel_size,
"voxel_size_y": voxel_size,
"voxel_size_z": voxel_size,
+ "input_frame": "",
+ "output_frame": "",
+ "max_queue_size": 5,
+ "use_indices": False,
+ "latched_indices": False,
+ "approximate_sync": False,
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],