From f806b2ec0edb70d7c93d6b2b0e70f977029dcc67 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Thu, 20 Jun 2024 17:00:10 +0900
Subject: [PATCH] fix: group to avoid argument mixture

---
 .../detection/detection.launch.xml            | 42 ++++++++++---------
 1 file changed, 23 insertions(+), 19 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index bc1d5b946dab7..373e343ad64fa 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -339,26 +339,30 @@
 
   <group if="$(var switch/merger/lidar_radar)">
     <!-- Lidar object merger-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
-      <arg name="input/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
-      <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="input/lidar_ml/objects" value="$(var lidar_ml_detector/output/objects)"/>
-      <arg name="input/lidar_rule/objects" value="$(var lidar_rule_detector/output/objects)"/>
-      <arg name="output/objects" value="lidar/objects"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
-      <arg name="use_validator" value="$(var use_validator)"/>
-      <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
-    </include>
+    <group>
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
+        <arg name="input/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
+        <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+        <arg name="input/lidar_ml/objects" value="$(var lidar_ml_detector/output/objects)"/>
+        <arg name="input/lidar_rule/objects" value="$(var lidar_rule_detector/output/objects)"/>
+        <arg name="output/objects" value="lidar/objects"/>
+        <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+        <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
+        <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+        <arg name="use_object_filter" value="$(var use_object_filter)"/>
+        <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
+        <arg name="use_validator" value="$(var use_validator)"/>
+        <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
+      </include>
+    </group>
     <!-- Lidar-Radar object merger-->
-    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-      <arg name="input/objects" value="lidar/objects"/>
-      <arg name="input/radars" value="radar/noise_filtered_objects"/>
-      <arg name="output/objects" value="$(var output/objects)"/>
-    </include>
+    <group>
+      <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
+        <arg name="input/objects" value="lidar/objects"/>
+        <arg name="input/radars" value="radar/noise_filtered_objects"/>
+        <arg name="output/objects" value="$(var output/objects)"/>
+      </include>
+    </group>
   </group>
 
   <group if="$(var switch/merger/lidar)">