From 49fc7ba8e90b7d817921f0c63f48d8841b843d62 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 26 Jun 2024 16:26:26 +0900
Subject: [PATCH 1/2] feat(tier4_perception_launch): add missing arg
 use_multi_channel_tracker_merger

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../launch/object_recognition/tracking/tracking.launch.xml       | 1 +
 1 file changed, 1 insertion(+)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
index 9bc4aabc39b20..1975ad2d15eb9 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -14,6 +14,7 @@
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="use_radar_tracking_fusion" default="false" description="use radar tracking fusion"/>
   <let name="use_radar_tracking_fusion" value="false" if="$(eval '&quot;$(var mode)&quot;!=&quot;camera_lidar_radar_fusion&quot;')"/>
+  <arg name="use_multi_channel_tracker_merger"/>
 
   <!-- External interface -->
   <let name="input/detection_input_channels" value="['detected_objects']"/>

From dcd13f40c87f682d8590e6dde31f3ee1bbfa692a Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 26 Jun 2024 16:42:39 +0900
Subject: [PATCH 2/2] feat: add use_multi_channel_tracker_merger argument to
 simulator launch

This commit adds the `use_multi_channel_tracker_merger` argument to the simulator launch file. The argument is set to `false` by default. This change enables the use of the multi-channel tracker merger in the simulator.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 launch/tier4_simulator_launch/launch/simulator.launch.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
index 97b07410d108a..7dc33e0e82ea9 100644
--- a/launch/tier4_simulator_launch/launch/simulator.launch.xml
+++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -78,6 +78,7 @@
             <arg name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
             <arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
             <arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
+            <arg name="use_multi_channel_tracker_merger" value="false"/>
           </include>
         </group>
         <!-- prediction module -->