From f2f130d08c9fc2ff1a02540ff22763004d15f651 Mon Sep 17 00:00:00 2001
From: ismetatabay <ismet@leodrive.ai>
Date: Wed, 26 Jul 2023 14:25:01 +0300
Subject: [PATCH 1/2] init commit

Signed-off-by: ismetatabay <ismet@leodrive.ai>
---
 .../launch/components/tier4_perception_component.launch.xml   | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 1707815707..4343683ca4 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -2,6 +2,8 @@
 <launch>
   <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
+  <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
+  <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
@@ -11,6 +13,8 @@
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
+    <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
+    <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
 
     <!-- object recognition -->
     <arg name="object_recognition_detection_compare_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/compare_map.param.yaml"/>

From f4b1de271e45d310028133d318fbf641ab83b449 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 26 Jul 2023 14:00:05 +0000
Subject: [PATCH 2/2] style(pre-commit): autofix

---
 .../launch/components/tier4_perception_component.launch.xml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 4343683ca4..da2a0962d9 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -3,7 +3,11 @@
   <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
-  <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"/>
+  <arg
+    name="detected_objects_validation_method"
+    default="obstacle_pointcloud"
+    description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
+  />
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>