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

@@ -83,6 +83,7 @@
       <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="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="use_pointcloud_container" value="true"/>

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

@@ -7,7 +7,6 @@
   <!-- Lidar detector centerpoint parameters -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
   <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
-  <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
 
   <!-- CenterPoint -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
@@ -18,8 +17,9 @@
         <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="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
-        <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+        <arg name="model_param_path" value="$(var centerpoint_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"/>
 
         <arg name="use_pointcloud_container" value="true"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -13,7 +13,7 @@
   <arg name="object_recognition_detection_roi_cluster_fusion_param_path"/>
   <arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
   <arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
-  <arg name="object_recognition_detection_lidar_model_param_path"/>
+  <arg name="object_recognition_detection_ml_package_param_path"/>
   <arg name="object_recognition_detection_radar_lanelet_filtering_range_param_path"/>
   <arg name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"/>
   <arg name="object_recognition_detection_radar_object_clustering_param_path"/>
@@ -183,7 +183,7 @@
           <arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>
           <arg name="roi_pointcloud_fusion_param_path" value="$(var object_recognition_detection_roi_pointcloud_fusion_param_path)"/>
           <arg name="roi_detected_object_fusion_param_path" value="$(var object_recognition_detection_roi_detected_object_fusion_param_path)"/>
-          <arg name="lidar_model_param_path" value="$(var object_recognition_detection_lidar_model_param_path)"/>
+          <arg name="ml_package_param_path" value="$(var object_recognition_detection_ml_package_param_path)"/>
           <arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>