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perception/lidar_centerpoint/README.md

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@@ -45,11 +45,11 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
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| `nms_iou_threshold` | double | - | IoU threshold for the IoU-based Non Maximum Suppression |
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| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built |
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### The `build_only` option
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The `lidar_centerpoint` node has `build_only` option to build the TensorRT engine file from the ONNX file.
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Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:
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```bash
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ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_tiny model_path:=/home/autoware/autoware_data/lidar_centerpoint model_param_path:=$(ros2 pkg prefix lidar_centerpoint --share)/config/centerpoint_tiny.param.yaml build_only:=true
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```

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