From bf05b366d2cc297464f8e447b1b8ef7b16acf99a Mon Sep 17 00:00:00 2001
From: Kenji Miyake <kenji.miyake@tier4.jp>
Date: Fri, 18 Feb 2022 13:44:58 +0900
Subject: [PATCH 1/3] fix: change the default mode of perception.launch

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 launch/tier4_autoware_launch/launch/autoware.launch.xml         | 2 +-
 .../tier4_autoware_launch/launch/logging_simulator.launch.xml   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/tier4_autoware_launch/launch/autoware.launch.xml b/launch/tier4_autoware_launch/launch/autoware.launch.xml
index a96438ae5a40a..c2b9f4d80a511 100644
--- a/launch/tier4_autoware_launch/launch/autoware.launch.xml
+++ b/launch/tier4_autoware_launch/launch/autoware.launch.xml
@@ -57,7 +57,7 @@
   <!-- Perception -->
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- options for mode: camera_lidar_fusion, lidar, camera -->
-    <arg name="mode" value="camera_lidar_fusion" />
+    <arg name="mode" value="lidar" />
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
diff --git a/launch/tier4_autoware_launch/launch/logging_simulator.launch.xml b/launch/tier4_autoware_launch/launch/logging_simulator.launch.xml
index adde77253073c..7fe4482a32e7a 100644
--- a/launch/tier4_autoware_launch/launch/logging_simulator.launch.xml
+++ b/launch/tier4_autoware_launch/launch/logging_simulator.launch.xml
@@ -85,7 +85,7 @@
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml" if="$(var perception)">
       <!-- options for mode: camera_lidar_fusion, lidar, camera -->
-      <arg name="mode" value="camera_lidar_fusion" />
+      <arg name="mode" value="lidar" />
       <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>

From df116913db2f8c4a04f4178e7d1a1896929edbd7 Mon Sep 17 00:00:00 2001
From: Kenji Miyake <kenji.miyake@tier4.jp>
Date: Fri, 18 Feb 2022 13:45:20 +0900
Subject: [PATCH 2/3] chore: remove unnecessary comments

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 launch/tier4_autoware_launch/launch/autoware.launch.xml         | 2 --
 .../tier4_autoware_launch/launch/logging_simulator.launch.xml   | 2 --
 2 files changed, 4 deletions(-)

diff --git a/launch/tier4_autoware_launch/launch/autoware.launch.xml b/launch/tier4_autoware_launch/launch/autoware.launch.xml
index c2b9f4d80a511..fc3116bbd1265 100644
--- a/launch/tier4_autoware_launch/launch/autoware.launch.xml
+++ b/launch/tier4_autoware_launch/launch/autoware.launch.xml
@@ -56,7 +56,6 @@
 
   <!-- Perception -->
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
-    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
     <arg name="mode" value="lidar" />
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
@@ -70,7 +69,6 @@
 
   <!-- Control -->
   <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
-    <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
     <arg name="lateral_controller_mode" value="mpc_follower" />
     <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
   </include>
diff --git a/launch/tier4_autoware_launch/launch/logging_simulator.launch.xml b/launch/tier4_autoware_launch/launch/logging_simulator.launch.xml
index 7fe4482a32e7a..f9cdcface2657 100644
--- a/launch/tier4_autoware_launch/launch/logging_simulator.launch.xml
+++ b/launch/tier4_autoware_launch/launch/logging_simulator.launch.xml
@@ -84,7 +84,6 @@
   <!-- Perception -->
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml" if="$(var perception)">
-      <!-- options for mode: camera_lidar_fusion, lidar, camera -->
       <arg name="mode" value="lidar" />
       <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
@@ -102,7 +101,6 @@
   <!-- Control -->
   <group>
     <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py" if="$(var control)">
-      <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
       <arg name="lateral_controller_mode" value="mpc_follower" />
       <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     </include>

From f39a614aadc334f00853c4a5c32fdad6a2b9d2c4 Mon Sep 17 00:00:00 2001
From: Kenji Miyake <kenji.miyake@tier4.jp>
Date: Fri, 18 Feb 2022 13:46:37 +0900
Subject: [PATCH 3/3] chore: remove default values

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 .../launch/object_recognition/detection/detection.launch.xml   | 3 +--
 launch/tier4_perception_launch/launch/perception.launch.xml    | 2 +-
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 9288c881b3469..c0723af73b09c 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -1,9 +1,8 @@
 <?xml version="1.0"?>
 
 <launch>
-  <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
+  <arg name="mode" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
-  <!-- "camera_lidar_fusion", "lidar" or "camera" -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
   <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
   <arg name="image_raw1" default=""/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index c6026e60522fa..94414701a2f9c 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -3,7 +3,7 @@
 <launch>
   <arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml" />
   <!-- common parameters -->
-  <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
+  <arg name="mode" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
   <arg name="image_raw1" default="/sensing/camera/camera1/image_rect_color"/>