From 33374564e04837fb062bf4cb490053bf54c96f60 Mon Sep 17 00:00:00 2001
From: aeon <jerry73204@gmail.com>
Date: Fri, 4 Oct 2024 06:21:19 +0800
Subject: [PATCH] Expose use_traffic_light_recognition argument

---
 autoware_launch/launch/autoware.launch.xml                      | 1 +
 .../launch/components/tier4_perception_component.launch.xml     | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index b4ad1bf43f..d530993c87 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -43,6 +43,7 @@
   <!-- 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="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
+  <arg name="use_traffic_light_recognition" default="true" description="enable traffic light recognition"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
   <!-- Auto mode setting-->
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 3b0f8eca46..5ed46f6ef6 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -151,7 +151,7 @@
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
 
     <!-- traffic light recognition -->
-    <arg name="use_traffic_light_recognition" value="true"/>
+    <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
     <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="traffic_light_recognition/fusion_only" value="false"/>
     <arg name="traffic_light_image_number" value="1"/>