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autoware_launch/launch/components/tier4_perception_component.launch.xml

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<arg name="traffic_light_recognition/fusion_only" default="true" description="Whether to start only some of the signal recognition related nodes"/>
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<group if="$(eval sensor_model == 'aip_xx1_gen2')">
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<!-- In the Gen2 sensor configuration, the traffic_light_recognition node is launched not through the conventional autoware.universe/launch/tier4_perception_launch but with its own custom launch file.
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<!-- In the Gen2 sensor configuration, the traffic_light_recognition node is launched not through the conventional autoware.universe/launch/tier4_perception_launch but with its own custom launch file.
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This is because autoware.universe's launch files do not support an arbitrary number of cameras. If autoware.universe's launch files were to support it, it is recommended to use them instead. -->
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<include file="$(find-pkg-share autoware_launch)/launch/components/traffic_light_recognition/traffic_light.launch.xml"/>
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</group>

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