From a2a2bce2847bc18d43e4bad6ea996dbe4f8ad08f Mon Sep 17 00:00:00 2001
From: ismet <ismet@leodrive.ai>
Date: Wed, 19 Jul 2023 12:46:43 +0300
Subject: [PATCH] init commit

Signed-off-by: ismetatabay <ismet@leodrive.ai>
---
 .../launch/object_recognition/prediction/prediction.launch.xml  | 2 ++
 launch/tier4_perception_launch/launch/perception.launch.xml     | 1 +
 2 files changed, 3 insertions(+)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml
index fd9d1ba6f3cda..711e6374f5786 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml
@@ -1,11 +1,13 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="use_vector_map" default="false" description="use vector map in prediction"/>
+  <arg name="param_path" default="$(find-pkg-share map_based_prediction)/config/map_based_prediction.param.yaml"/>
 
   <group if="$(var use_vector_map)">
     <set_remap from="objects" to="/perception/object_recognition/objects"/>
     <include file="$(find-pkg-share map_based_prediction)/launch/map_based_prediction.launch.xml">
       <arg name="output_topic" value="/perception/object_recognition/objects"/>
+      <arg name="param_path" value="$(var object_recognition_prediction_map_based_prediction_param_path)"/>
     </include>
   </group>
   <group unless="$(var use_vector_map)">
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 1a0566050476e..a68cfbc47d335 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -8,6 +8,7 @@
   <arg name="object_recognition_detection_object_lanelet_filter_param_path"/>
   <arg name="object_recognition_detection_object_position_filter_param_path"/>
   <arg name="object_recognition_detection_pointcloud_map_filter_param_path"/>
+  <arg name="object_recognition_prediction_map_based_prediction_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
   <arg name="obstacle_segmentation_ground_segmentation_param_path"/>
   <arg name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"/>