From f691d704fe70f28386ef295e633c48be42b2614e Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Mon, 16 Jan 2023 18:57:39 +0900
Subject: [PATCH] fix(simulator_launch): use tier4_perception_launch (#693)

---
 simulator_launch/launch/simulator.launch.xml | 17 +++++++++++++----
 1 file changed, 13 insertions(+), 4 deletions(-)

diff --git a/simulator_launch/launch/simulator.launch.xml b/simulator_launch/launch/simulator.launch.xml
index 08d27a73b1..79225ea0a8 100644
--- a/simulator_launch/launch/simulator.launch.xml
+++ b/simulator_launch/launch/simulator.launch.xml
@@ -1,4 +1,13 @@
 <launch>
+  <arg
+    name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
+    default="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
+  />
+  <arg
+    name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
+    default="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
+  />
+
   <arg name="launch_dummy_perception" />
   <arg name="launch_dummy_vehicle"/>
   <arg name="launch_dummy_localization"/>
@@ -21,7 +30,7 @@
   <group unless="$(var scenario_simulation)">
     <!-- Occupancy Grid -->
     <push-ros-namespace namespace="occupancy_grid_map"/>
-    <include file="$(find-pkg-share perception_launch)/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py">
       <arg name="input_obstacle_pointcloud" value="true" />
       <arg name="input_obstacle_and_raw_pointcloud" value="false" />
       <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
@@ -47,13 +56,13 @@
       <!-- tracking module -->
       <group>
         <push-ros-namespace namespace="tracking"/>
-        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
+        <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 perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
+        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
           <arg name="use_vector_map" value="true" />
         </include>
       </group>
@@ -71,7 +80,7 @@
     <!-- traffic light module -->
     <group if="$(var perception/enable_traffic_light)">
       <push-ros-namespace namespace="traffic_light_recognition"/>
-      <include file="$(find-pkg-share perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
     </group>
   </group>