From f8f658cf25e49bb4af4cb362afde80ba876689cb Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Wed, 2 Mar 2022 13:36:43 +0900
Subject: [PATCH 1/3] feat(tier4_simulator_launch, dummy_perception_publisher):
 launch perception modules from simualtor.launch.xml

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../launch/simulator.launch.xml               | 44 ++++++++++++++++++-
 1 file changed, 43 insertions(+), 1 deletion(-)

diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
index 6d60482391216..c629c0c8c1562 100644
--- a/launch/tier4_simulator_launch/launch/simulator.launch.xml
+++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -4,7 +4,8 @@
   <arg name="vehicle_info_param_file" />
 
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
-  <arg name="perception/enable_object_recognition" default="false" description="enable object recognition when using dummy perception"/>
+  <arg name="perception/enable_object_recognition" default="false" description="enable object recognition"/>
+  <arg name="perception/enable_traffic_light" default="false" description="enable traffic light"/>
   <arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
 
   <arg name="vehicle_model" description="vehicle model name"/>
@@ -25,6 +26,47 @@
     </include>
   </group>
 
+  <!-- perception module -->
+  <group>
+    <push-ros-namespace namespace="perception"/>
+    <!-- object recognition -->
+    <group if="$(var perception/enable_object_recognition)">
+      <push-ros-namespace namespace="object_recognition"/>
+      <!-- detection module -->
+      <!-- tracking module -->
+      <group>
+        <push-ros-namespace namespace="tracking"/>
+        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
+        </include>
+      </group>
+      <!-- prediction module -->
+      <group>
+        <push-ros-namespace namespace="prediction"/>
+        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
+          <arg name="use_vector_map" value="true" />
+        </include>
+      </group>
+    </group>
+
+    <!-- object segmentation module -->
+    <group>
+      <push-ros-namespace namespace="occupancy_grid_map"/>
+      <!-- Occupancy Grid -->
+      <include file="$(find-pkg-share laserscan_to_occupancy_grid_map)/launch/laserscan_to_occupancy_grid_map.launch.py">
+        <arg name="input_obstacle_pointcloud" value="true" />
+        <arg name="input_obstacle_and_raw_pointcloud" value="false" />
+        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
+        <arg name="output" value="/perception/occupancy_grid_map/map" />
+      </include>
+    </group>
+
+    <!-- traffic light module -->
+    <group if="$(var perception/enable_traffic_light)">
+      <push-ros-namespace namespace="traffic_light_recognition"/>
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
+    </group>
+  </group>
+
   <!-- Simulator model -->
   <group if="$(var launch_dummy_vehicle)">
       <arg name="simulator_model" default="$(var vehicle_model_pkg)/config/simulator_model.param.yaml" description="path to the file of simulator model"/>

From b827d76ab4af0ef3e114c4c5a22892fbf8bef0d6 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Wed, 2 Mar 2022 13:45:04 +0900
Subject: [PATCH 2/3] remove perception launching
 dummy_perception_publisher.launch.xml

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../dummy_perception_publisher.launch.xml     | 39 +------------------
 1 file changed, 1 insertion(+), 38 deletions(-)

diff --git a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
index 24a68634f30bb..73385ef459233 100644
--- a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
+++ b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
@@ -5,7 +5,6 @@
   <arg name="visible_range" default="300.0" />
   <arg name="real" default="true" />
   <arg name="use_object_recognition" default="true" />
-  <arg name="use_traffic_light_recognition" default="false" />
 
   <group>
     <push-ros-namespace namespace="simulation"/>
@@ -51,48 +50,12 @@
   <!-- perception module -->
   <group>
     <push-ros-namespace namespace="perception"/>
-    <!-- object segmentation module -->
-    <group>
-      <push-ros-namespace namespace="occupancy_grid_map"/>
-      <!-- Occupancy Grid -->
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/occupancy_grid_map.launch.py">
-        <arg name="input_obstacle_pointcloud" value="true" />
-        <arg name="input_obstacle_and_raw_pointcloud" value="false" />
-        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
-        <arg name="output" value="/perception/occupancy_grid_map/map" />
-      </include>
-    </group>
-
-    <!-- object recognition module -->
-    <group if="$(var use_object_recognition)">
-      <push-ros-namespace namespace="object_recognition"/>
-      <!-- detection module -->
-      <!-- tracking module -->
-      <group>
-        <push-ros-namespace namespace="tracking"/>
-        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
-        </include>
-      </group>
-      <!-- prediction module -->
-      <group>
-        <push-ros-namespace namespace="prediction"/>
-        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
-          <arg name="use_vector_map" value="true" />
-        </include>
-      </group>
-    </group>
-
+    <!-- publish empty objects instead of object recognition module -->
     <group unless="$(var use_object_recognition)">
       <push-ros-namespace namespace="object_recognition"/>
       <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
         <remap from="~/output/objects" to="/perception/object_recognition/objects" />
       </node>
     </group>
-
-    <!-- traffic light module -->
-    <group if="$(var use_traffic_light_recognition)">
-      <push-ros-namespace namespace="traffic_light_recognition"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
-    </group>
   </group>
 </launch>

From b9ef287adcbce8b1d8203a8998f732565c5ea738 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Wed, 2 Mar 2022 13:54:38 +0900
Subject: [PATCH 3/3] remove unnecessary comment

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 launch/tier4_simulator_launch/launch/simulator.launch.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
index c629c0c8c1562..920d6e8a80cd0 100644
--- a/launch/tier4_simulator_launch/launch/simulator.launch.xml
+++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -32,7 +32,6 @@
     <!-- object recognition -->
     <group if="$(var perception/enable_object_recognition)">
       <push-ros-namespace namespace="object_recognition"/>
-      <!-- detection module -->
       <!-- tracking module -->
       <group>
         <push-ros-namespace namespace="tracking"/>