From 4965dfe0a3be4153b910673d94e5f67da78d91b9 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Wed, 14 Aug 2024 17:48:48 +0900
Subject: [PATCH 1/2] fix(tensorrt_yolox): missing param file arg

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
index dd15eda2913ce..fa303e573bc62 100644
--- a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
+++ b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
@@ -9,9 +9,11 @@
   <arg name="use_decompress" default="true" description="use image decompress"/>
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
 
+  <arg name="param_file" default="$(find-pkg-share image_transport_decompressor)/config/image_transport_decompressor.param.yaml"/>
   <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
     <remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
     <remap from="~/output/raw_image" to="$(var input/image)"/>
+    <param from="$(var param_file)"/>
   </node>
 
   <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">

From 75e5acc8808a87575ddea98bc93ef1ca0b7b3d64 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Wed, 14 Aug 2024 22:25:18 +0900
Subject: [PATCH 2/2] fix: yolox_tiny

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 perception/tensorrt_yolox/launch/yolox_tiny.launch.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml b/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml
index 9e5d1c371b13b..46d431fb2e3b7 100644
--- a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml
+++ b/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml
@@ -8,9 +8,11 @@
   <arg name="use_decompress" default="true" description="use image decompress"/>
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
 
+  <arg name="param_file" default="$(find-pkg-share image_transport_decompressor)/config/image_transport_decompressor.param.yaml"/>
   <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
     <remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
     <remap from="~/output/raw_image" to="$(var input/image)"/>
+    <param from="$(var param_file)"/>
   </node>
 
   <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">