chore: fix launch

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

Author: badai-nguyen

launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

@@ -82,9 +82,9 @@
       <arg name="output/objects" value="objects"/>
       <arg name="model_name" value="$(var lidar_detection_model)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
-      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
+      <arg name="model_param_path" value="$(var model_path)/$(var lidar_detection_model).param.yaml"/>
       <arg name="ml_package_param_path" value="$(var ml_package_param_path)/pointpainting_ml_package.param.yaml"/>
-      <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+      <arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
 
       <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>

launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml

@@ -6,7 +6,6 @@
 
   <!-- Lidar detector centerpoint parameters -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
-  <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
 
   <!-- CenterPoint -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
@@ -17,7 +16,7 @@
         <arg name="output/objects" value="objects"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
-        <arg name="model_param_path" value="$(var centerpoint_model_path)/$(var centerpoint_model_name).param.yaml"/>
+        <arg name="model_param_path" value="$(var model_path)/$(var centerpoint_model_name).param.yaml"/>
         <arg name="ml_package_param_path" value="$(var ml_package_param_path)/lidar_centerpoint_ml_package.param.yaml"/>
         <arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
 

perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml

@@ -21,12 +21,9 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_name" default="pointpainting" description="options: `pointpainting`"/>
   <arg name="model_path" default="$(var data_path)/image_projection_based_fusion"/>
-  <arg name="model_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/$(var model_name).param.yaml"/>
-  <arg
-    name="ml_package_param_path"
-    default="/home/autoware/autoware/src/launcher/autoware_launch/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting_ml_package.param.yaml"
-  />
-  <arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
+  <arg name="model_param_path" default="$(find-pkg-share model_path)/$(var model_name).param.yaml"/>
+  <arg name="ml_package_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/pointpainting_ml_package.param.yaml"/>
+  <arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
   <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
 
   <arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>

perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

@@ -5,9 +5,9 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
   <arg name="model_path" default="$(var data_path)/lidar_centerpoint"/>
-  <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
+  <arg name="model_param_path" default="$(var model_path)/$(var model_name).param.yaml"/>
   <arg name="ml_package_param_path" default="$(find-pkg-share lidar_centerpoint)/config/lidar_centerpoint_ml_package.param.yaml"/>
-  <arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
+  <arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
 
   <arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>