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KhalilSelyan
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feat(tier4_perception_launch): enable multi channel tracker merger (#7459)
* feat: introduce multi channel tracker merger Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: separate filters feat: filtering camera lidar fusion fix: object validator to modular Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: add missing config Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: radar only mode for both fusion mode fix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: implement merger switching Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: move pointcloud filter from detection to filter group Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: define external and internal interfaces Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: set output of camera-lidar in absolute path Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: explicit object detection output Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: update object detection input paths fix radar output Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: update object detection input paths Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: radar pipeline output Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: update object detection input paths This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: group to avoid argument mixture Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
1 parent 31fba94 commit d9f8f47

9 files changed

+241
-133
lines changed

‎launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

+123-39
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‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

+11-21
Original file line numberDiff line numberDiff line change
@@ -1,17 +1,11 @@
11
<?xml version="1.0"?>
22
<launch>
3-
<!-- Lidar parameters -->
4-
<arg name="input/pointcloud"/>
5-
<arg name="input/pointcloud_map/pointcloud"/>
6-
<arg name="input/obstacle_segmentation/pointcloud"/>
7-
<arg name="node/pointcloud_container"/>
8-
93
<!-- Lidar + Camera detector parameters -->
104
<arg name="lidar_detection_model" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
115
<arg name="use_roi_based_cluster"/>
126
<arg name="use_low_intensity_cluster_filter"/>
137

14-
<!-- Camera parameters -->
8+
<!-- External interfaces -->
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<arg name="number_of_cameras"/>
1610
<arg name="input/camera0/image"/>
1711
<arg name="input/camera0/info"/>
@@ -38,6 +32,14 @@
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<arg name="input/camera7/info"/>
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<arg name="input/camera7/rois"/>
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35+
<arg name="node/pointcloud_container"/>
36+
<arg name="input/pointcloud"/>
37+
<arg name="input/pointcloud_map/pointcloud"/>
38+
<arg name="input/obstacle_segmentation/pointcloud"/>
39+
40+
<arg name="output/ml_detector/objects"/>
41+
<arg name="output/rule_detector/objects"/>
42+
4143
<!-- Jetson AGX -->
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<!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
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<arg name="image_raw0" value="$(var input/camera0/image)"/>
@@ -81,7 +83,7 @@
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<arg name="input/image6" value="$(var input/camera6/image)"/>
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<arg name="input/image7" value="$(var input/camera7/image)"/>
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<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
84-
<arg name="output/objects" value="objects"/>
86+
<arg name="output/objects" value="$(var output/ml_detector/objects)"/>
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<arg name="model_name" value="$(var lidar_detection_model)"/>
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<arg name="model_path" value="$(var pointpainting_model_path)"/>
@@ -93,18 +95,6 @@
9395
</include>
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</group>
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96-
<!-- Pointcloud filter -->
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<group>
98-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
99-
<arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
100-
<arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
101-
<arg name="use_intra_process" value="true"/>
102-
<arg name="use_multithread" value="true"/>
103-
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
104-
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
105-
</include>
106-
</group>
107-
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<!-- Clustering -->
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<group>
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<push-ros-namespace namespace="clustering"/>
@@ -230,7 +220,7 @@
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<group>
231221
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
232222
<arg name="input" value="objects_with_feature"/>
233-
<arg name="output" value="objects"/>
223+
<arg name="output" value="$(var output/rule_detector/objects)"/>
234224
</include>
235225
</group>
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</group>

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

+8-7
Original file line numberDiff line numberDiff line change
@@ -1,18 +1,19 @@
11
<?xml version="1.0"?>
22
<launch>
33
<!-- Lidar parameters -->
4-
<arg name="input/pointcloud"/>
5-
<arg name="node/pointcloud_container"/>
64
<arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `clustering`"/>
7-
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<!-- Lidar detector centerpoint parameters -->
96
<arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint`, `centerpoint_tiny` or `centerpoint_sigma`"/>
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<arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
11-
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<!-- Lidar detector transfusion parameters -->
139
<arg name="transfusion_model_name" default="transfusion" description="options: `transfusion`"/>
1410
<arg name="transfusion_model_path" default="$(var data_path)/lidar_transfusion"/>
1511

12+
<!-- External interfaces -->
13+
<arg name="node/pointcloud_container"/>
14+
<arg name="input/pointcloud"/>
15+
<arg name="output/objects"/>
16+
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<!-- TransFusion -->
1718
<group if="$(eval &quot;'$(var lidar_detection_model)'=='transfusion'&quot;)">
1819
<push-ros-namespace namespace="transfusion"/>
@@ -21,7 +22,7 @@
2122
<group>
2223
<include file="$(find-pkg-share lidar_transfusion)/launch/lidar_transfusion.launch.xml">
2324
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
24-
<arg name="output/objects" value="objects"/>
25+
<arg name="output/objects" value="$(var output/objects)"/>
2526
<arg name="model_name" value="$(var transfusion_model_name)"/>
2627
<arg name="model_path" value="$(var transfusion_model_path)"/>
2728
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var transfusion_model_name).param.yaml"/>
@@ -41,7 +42,7 @@
4142
<group>
4243
<include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
4344
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
44-
<arg name="output/objects" value="objects"/>
45+
<arg name="output/objects" value="$(var output/objects)"/>
4546
<arg name="model_name" value="$(var centerpoint_model_name)"/>
4647
<arg name="model_path" value="$(var centerpoint_model_path)"/>
4748
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
@@ -77,7 +78,7 @@
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<group>
7879
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
7980
<arg name="input" value="objects_with_feature"/>
80-
<arg name="output" value="objects"/>
81+
<arg name="output" value="$(var output/objects)"/>
8182
</include>
8283
</group>
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</group>

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

+4-16
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@@ -1,22 +1,10 @@
11
<?xml version="1.0"?>
22
<launch>
3-
<!-- Lidar parameters -->
3+
<!-- External interfaces -->
4+
<arg name="node/pointcloud_container"/>
45
<arg name="input/pointcloud_map/pointcloud"/>
56
<arg name="input/obstacle_segmentation/pointcloud"/>
6-
<arg name="node/pointcloud_container"/>
7-
<arg name="use_pointcloud_map"/>
8-
9-
<!-- Pointcloud filter -->
10-
<group>
11-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
12-
<arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
13-
<arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
14-
<arg name="use_intra_process" value="true"/>
15-
<arg name="use_multithread" value="true"/>
16-
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
17-
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
18-
</include>
19-
</group>
7+
<arg name="output/objects"/>
208

219
<!-- Clustering -->
2210
<group>
@@ -43,7 +31,7 @@
4331
<group>
4432
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
4533
<arg name="input" value="objects_with_feature"/>
46-
<arg name="output" value="objects"/>
34+
<arg name="output" value="$(var output/objects)"/>
4735
</include>
4836
</group>
4937
</group>

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

+2
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@@ -1,10 +1,12 @@
11
<?xml version="1.0"?>
22
<launch>
3+
<arg name="output/objects"/>
34
<!-- DetectionByTracker -->
45
<group>
56
<push-ros-namespace namespace="detection_by_tracker"/>
67
<include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
78
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
9+
<arg name="output" value="$(var output/objects)"/>
810
</include>
911
</group>
1012
</launch>

‎launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml

+3-3
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@@ -44,9 +44,9 @@
4444
<arg name="input/camera7/rois"/>
4545
<arg name="input/pointcloud_map/pointcloud"/>
4646
<arg name="input/obstacle_segmentation/pointcloud"/>
47-
<arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
48-
<arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
49-
<arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
47+
<arg name="input/lidar_ml/objects"/>
48+
<arg name="input/lidar_rule/objects"/>
49+
<arg name="input/detection_by_tracker/objects"/>
5050
<arg name="output/objects" default="objects"/>
5151

5252
<!-- internal interfaces -->

‎launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml

+6-6
Original file line numberDiff line numberDiff line change
@@ -47,16 +47,16 @@
4747
<arg name="input/camera7/rois"/>
4848
<arg name="input/pointcloud_map/pointcloud"/>
4949
<arg name="input/obstacle_segmentation/pointcloud"/>
50-
<arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
51-
<arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
52-
<arg name="input/radar_near/objects" default="radar/noise_filtered_objects"/>
53-
<arg name="input/radar_far/objects" default="radar/far_objects"/>
54-
<arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
50+
<arg name="input/lidar_ml/objects"/>
51+
<arg name="input/lidar_rule/objects"/>
52+
<arg name="input/radar/objects"/>
53+
<arg name="input/radar_far/objects"/>
54+
<arg name="input/detection_by_tracker/objects"/>
5555
<arg name="output/objects" default="objects"/>
5656

5757
<!-- internal interfaces -->
5858
<let name="radar_objects_fusion/input/objects" value="$(var input/lidar_ml/objects)"/>
59-
<let name="radar_objects_fusion/input/radars" value="$(var input/radar_near/objects)"/>
59+
<let name="radar_objects_fusion/input/radars" value="$(var input/radar/objects)"/>
6060
<let name="radar_objects_fusion/output/objects" value="radar_fusion/objects"/>
6161

6262
<let name="camera_roi_fusion/input/objects" value="$(var radar_objects_fusion/output/objects)" if="$(var use_near_radar_fusion)"/>

‎launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml

+78-41
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,8 @@
11
<?xml version="1.0"?>
22
<launch>
3+
<!-- Current namespace -->
4+
<let name="ns" value="/perception/object_recognition/tracking"/>
5+
36
<!-- Radar Tracking and Merger parameters -->
47
<arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path" description="association param file for radar far object tracking"/>
58
<arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" description="tracking setting param file for radar far object tracking"/>
@@ -13,50 +16,84 @@
1316
<let name="use_radar_tracking_fusion" value="false" if="$(eval '&quot;$(var mode)&quot;!=&quot;camera_lidar_radar_fusion&quot;')"/>
1417

1518
<!-- External interface -->
16-
<arg name="input/detection_input_channels" default="['detected_objects']"/>
17-
<!-- detection_input_channels: Input channels for multi object tracker, reference: multi_object_tracker/config/input_channels.param.yaml -->
19+
<let name="input/detection_input_channels" value="['detected_objects']"/>
1820
<arg name="input/radar/objects" default="/perception/object_recognition/detection/radar/far_objects"/>
19-
<arg name="output/objects" default="/perception/object_recognition/tracking/objects"/>
20-
21-
<!-- Internal interface -->
22-
<let name="radar_tracker/input/objects" value="$(var input/radar/objects)"/>
23-
<let name="radar_tracker/output/objects" value="/perception/object_recognition/tracking/radar/far_objects"/>
24-
25-
<let name="multi_object_tracker/input/selected_input_channels" value="$(var input/detection_input_channels)"/>
26-
<let name="multi_object_tracker/output/objects" value="$(var output/objects)" unless="$(var use_radar_tracking_fusion)"/>
27-
<let name="multi_object_tracker/output/objects" value="/perception/object_recognition/tracking/near_objects" if="$(var use_radar_tracking_fusion)"/>
28-
29-
<let name="tracker_merger/input/main_objects" value="$(var multi_object_tracker/output/objects)"/>
30-
<let name="tracker_merger/input/sub_objects" value="$(var radar_tracker/output/objects)"/>
31-
<let name="tracker_merger/output/objects" value="$(var output/objects)"/>
32-
33-
<!--Multi object tracking-->
34-
<include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
35-
<arg name="selected_input_channels" value="$(var multi_object_tracker/input/selected_input_channels)"/>
36-
<arg name="output" value="$(var multi_object_tracker/output/objects)"/>
37-
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
38-
<arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
39-
<arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
40-
</include>
41-
42-
<!-- Run with tracking merger to add far radar information -->
43-
<group if="$(var use_radar_tracking_fusion)">
44-
<!--radar long range dynamic object tracking-->
45-
<include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
46-
<arg name="input" value="$(var radar_tracker/input/objects)"/>
47-
<arg name="output" value="$(var radar_tracker/output/objects)"/>
48-
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"/>
49-
<arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
50-
<arg name="radar_object_tracker_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
21+
<arg name="output/objects" default="$(var ns)/objects"/>
22+
23+
<group unless="$(var use_multi_channel_tracker_merger)">
24+
<!-- Internal interface -->
25+
<let name="radar_tracker/input/objects" value="$(var input/radar/objects)"/>
26+
<let name="radar_tracker/output/objects" value="$(var ns)/radar/far_objects"/>
27+
28+
<let name="multi_object_tracker/input/selected_input_channels" value="$(var input/detection_input_channels)"/>
29+
<let name="multi_object_tracker/output/objects" value="$(var output/objects)" unless="$(var use_radar_tracking_fusion)"/>
30+
<let name="multi_object_tracker/output/objects" value="$(var ns)/near_objects" if="$(var use_radar_tracking_fusion)"/>
31+
32+
<let name="tracker_merger/input/main_objects" value="$(var multi_object_tracker/output/objects)"/>
33+
<let name="tracker_merger/input/sub_objects" value="$(var radar_tracker/output/objects)"/>
34+
<let name="tracker_merger/output/objects" value="$(var output/objects)"/>
35+
36+
<!-- Multi object tracking -->
37+
<include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
38+
<arg name="selected_input_channels" value="$(var multi_object_tracker/input/selected_input_channels)"/>
39+
<arg name="output" value="$(var multi_object_tracker/output/objects)"/>
40+
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
41+
<arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
42+
<arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
5143
</include>
5244

53-
<!--tracking object merger to merge near objects and far objects -->
54-
<include file="$(find-pkg-share tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
55-
<arg name="input/main_object" value="$(var tracker_merger/input/main_objects)"/>
56-
<arg name="input/sub_object" value="$(var tracker_merger/input/sub_objects)"/>
57-
<arg name="output" value="$(var tracker_merger/output/objects)"/>
58-
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
59-
<arg name="node_param_file_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
45+
<!-- Run with tracking merger to add far radar information -->
46+
<group if="$(var use_radar_tracking_fusion)">
47+
<!-- radar long range dynamic object tracking -->
48+
<include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
49+
<arg name="input" value="$(var radar_tracker/input/objects)"/>
50+
<arg name="output" value="$(var radar_tracker/output/objects)"/>
51+
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"/>
52+
<arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
53+
<arg name="radar_object_tracker_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
54+
</include>
55+
56+
<!-- tracking object merger to merge near objects and far objects -->
57+
<include file="$(find-pkg-share tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
58+
<arg name="input/main_object" value="$(var tracker_merger/input/main_objects)"/>
59+
<arg name="input/sub_object" value="$(var tracker_merger/input/sub_objects)"/>
60+
<arg name="output" value="$(var tracker_merger/output/objects)"/>
61+
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
62+
<arg name="node_param_file_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
63+
</include>
64+
</group>
65+
</group>
66+
67+
<!-- Object list for multi-channel tracker merger -->
68+
<group if="$(var use_multi_channel_tracker_merger)">
69+
<let name="detection_enabled_channels" value="$(var input/detection_input_channels)"/>
70+
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
71+
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
72+
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','radar_far']" unless="$(var use_detection_by_tracker)"/>
73+
</group>
74+
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
75+
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
76+
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion']" unless="$(var use_detection_by_tracker)"/>
77+
</group>
78+
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
79+
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
80+
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','radar_far']" unless="$(var use_detection_by_tracker)"/>
81+
</group>
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<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
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<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
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<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated']" unless="$(var use_detection_by_tracker)"/>
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</group>
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<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
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<let name="detection_enabled_channels" value="['radar_far']"/>
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</group>
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<!-- Multi object tracking -->
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<include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
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<arg name="selected_input_channels" value="$(var detection_enabled_channels)"/>
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<arg name="output" value="$(var output/objects)"/>
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<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
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<arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
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<arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
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</include>
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</group>
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</launch>

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