From afd8d7acbf370c51d428a75a5eeb9f7b40dff224 Mon Sep 17 00:00:00 2001
From: t4-adc <grp-rd-1-adc-admin@tier4.jp>
Date: Tue, 28 Jan 2025 18:10:42 +0000
Subject: [PATCH] Change perception_mode parameter to camera_lidar_fusion

Signed-off-by: t4-adc <grp-rd-1-adc-admin@tier4.jp>
---
 autoware_launch/launch/autoware.launch.xml                      | 2 +-
 .../launch/components/tier4_perception_component.launch.xml     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 95f15f59fb..33554b12b6 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -43,7 +43,7 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)" description="rviz config path"/>
   <arg name="rviz_respawn" default="true"/>
   <!-- Perception -->
-  <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
+  <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 105b49a2d9..527e3d9986 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -19,7 +19,7 @@
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
   <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="lidar_detection_model" default="apollo" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">