From 0cdecb821d6b46ab12f4821d1ebe23256c82c0ec Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Thu, 14 Sep 2023 18:19:55 +0900
Subject: [PATCH 1/5] fix(simple_object_merger): fix timeout (#4990)

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../src/simple_object_merger_node/simple_object_merger_node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
index 506a40e672fb6..1f3e4eb3792ac 100644
--- a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
+++ b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
@@ -168,7 +168,7 @@ void SimpleObjectMergerNode::onTimer()
   output_objects.header.frame_id = node_param_.new_frame_id;
 
   for (size_t i = 0; i < input_topic_size; i++) {
-    double time_diff = (this->get_clock()->now()).seconds() -
+    double time_diff = rclcpp::Time(objects_data_.at(i)->header.stamp).seconds() -
                        rclcpp::Time(objects_data_.at(0)->header.stamp).seconds();
     if (std::abs(time_diff) < node_param_.timeout_threshold) {
       transform_ = transform_listener_->getTransform(

From f0d8586d60dd6a8464c6afb3a0d3a59f6ce4ea68 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Thu, 14 Sep 2023 18:33:19 +0900
Subject: [PATCH 2/5] feat(object_merger): add queue size parameter (#4994)

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../object_association_merger/node.hpp        | 16 +++++++-------
 .../object_association_merger.launch.xml      |  2 ++
 .../src/object_association_merger/node.cpp    | 21 +++++++++++--------
 3 files changed, 23 insertions(+), 16 deletions(-)

diff --git a/perception/object_merger/include/object_association_merger/node.hpp b/perception/object_merger/include/object_association_merger/node.hpp
index 1e5b9fad9c9ca..6815b59894083 100644
--- a/perception/object_merger/include/object_association_merger/node.hpp
+++ b/perception/object_merger/include/object_association_merger/node.hpp
@@ -59,14 +59,16 @@ class ObjectAssociationMergerNode : public rclcpp::Node
   tf2_ros::TransformListener tf_listener_;
   rclcpp::Publisher<autoware_auto_perception_msgs::msg::DetectedObjects>::SharedPtr
     merged_object_pub_;
-  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object0_sub_;
-  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object1_sub_;
-  typedef message_filters::sync_policies::ApproximateTime<
+  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object0_sub_{};
+  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object1_sub_{};
+
+  using SyncPolicy = message_filters::sync_policies::ApproximateTime<
     autoware_auto_perception_msgs::msg::DetectedObjects,
-    autoware_auto_perception_msgs::msg::DetectedObjects>
-    SyncPolicy;
-  typedef message_filters::Synchronizer<SyncPolicy> Sync;
-  Sync sync_;
+    autoware_auto_perception_msgs::msg::DetectedObjects>;
+  using Sync = message_filters::Synchronizer<SyncPolicy>;
+  typename std::shared_ptr<Sync> sync_ptr_;
+
+  int sync_queue_size_;
   std::unique_ptr<DataAssociation> data_association_;
   std::string base_link_frame_id_;  // associated with the base_link frame
 
diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/object_merger/launch/object_association_merger.launch.xml
index 3418f7d5a5e61..a21ae8f7fa327 100644
--- a/perception/object_merger/launch/object_association_merger.launch.xml
+++ b/perception/object_merger/launch/object_association_merger.launch.xml
@@ -6,6 +6,7 @@
   <arg name="priority_mode" default="2" description="0: Object0, 1: Object1, 2: Confidence"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
+  <arg name="sync_queue_size" default="20"/>
 
   <node pkg="object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
     <remap from="input/object0" to="$(var input/object0)"/>
@@ -14,6 +15,7 @@
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var distance_threshold_list_path)"/>
     <param name="priority_mode" value="$(var priority_mode)"/>
+    <param name="sync_queue_size" value="sync_queue_size"/>
     <param name="precision_threshold_to_judge_overlapped" value="0.4"/>
     <param name="remove_overlapped_unknown_objects" value="true"/>
   </node>
diff --git a/perception/object_merger/src/object_association_merger/node.cpp b/perception/object_merger/src/object_association_merger/node.cpp
index 4f600ce8a4948..22d0ac273a140 100644
--- a/perception/object_merger/src/object_association_merger/node.cpp
+++ b/perception/object_merger/src/object_association_merger/node.cpp
@@ -77,20 +77,13 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
   tf_buffer_(get_clock()),
   tf_listener_(tf_buffer_),
   object0_sub_(this, "input/object0", rclcpp::QoS{1}.get_rmw_qos_profile()),
-  object1_sub_(this, "input/object1", rclcpp::QoS{1}.get_rmw_qos_profile()),
-  sync_(SyncPolicy(10), object0_sub_, object1_sub_)
+  object1_sub_(this, "input/object1", rclcpp::QoS{1}.get_rmw_qos_profile())
 {
-  // Create publishers and subscribers
-  using std::placeholders::_1;
-  using std::placeholders::_2;
-  sync_.registerCallback(std::bind(&ObjectAssociationMergerNode::objectsCallback, this, _1, _2));
-  merged_object_pub_ = create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
-    "output/object", rclcpp::QoS{1});
-
   // Parameters
   base_link_frame_id_ = declare_parameter<std::string>("base_link_frame_id", "base_link");
   priority_mode_ = static_cast<PriorityMode>(
     declare_parameter<int>("priority_mode", static_cast<int>(PriorityMode::Confidence)));
+  sync_queue_size_ = declare_parameter<int>("sync_queue_size", 20);
   remove_overlapped_unknown_objects_ =
     declare_parameter<bool>("remove_overlapped_unknown_objects", true);
   overlapped_judge_param_.precision_threshold =
@@ -115,6 +108,16 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
   const auto min_iou_matrix = this->declare_parameter<std::vector<double>>("min_iou_matrix");
   data_association_ = std::make_unique<DataAssociation>(
     can_assign_matrix, max_dist_matrix, max_rad_matrix, min_iou_matrix);
+
+  // Create publishers and subscribers
+  using std::placeholders::_1;
+  using std::placeholders::_2;
+  sync_ptr_ = std::make_shared<Sync>(SyncPolicy(sync_queue_size_), object0_sub_, object1_sub_);
+  sync_ptr_->registerCallback(
+    std::bind(&ObjectAssociationMergerNode::objectsCallback, this, _1, _2));
+
+  merged_object_pub_ = create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
+    "output/object", rclcpp::QoS{1});
 }
 
 void ObjectAssociationMergerNode::objectsCallback(

From c45a3406076cb3dab436d54564f610c1234e0558 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Tue, 19 Sep 2023 11:58:56 +0900
Subject: [PATCH 3/5] fix(radar_fusion_to_detected_object): fix confidence
 (#4992)

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../src/radar_fusion_to_detected_object.cpp                     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp b/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
index 4f0933e993de8..523124078d7f2 100644
--- a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
+++ b/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
@@ -293,7 +293,7 @@ TwistWithCovariance RadarFusionToDetectedObject::estimateTwist(
 bool RadarFusionToDetectedObject::isQualified(
   const DetectedObject & object, std::shared_ptr<std::vector<RadarInput>> & radars)
 {
-  if (object.classification[0].probability > param_.threshold_probability) {
+  if (object.existence_probability > param_.threshold_probability) {
     return true;
   } else {
     if (!radars || !(*radars).empty()) {

From 43cf077997b06eb9bf4f876425e5576280f973a8 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Tue, 19 Sep 2023 14:16:06 +0900
Subject: [PATCH 4/5] fix(radar_tracks_msg_converter): fix twist coordinate
 conversion (#4993)

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../radar_tracks_msgs_converter_node.cpp          | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

diff --git a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
index ab5e4eb5abe90..df7726ce7dad5 100644
--- a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
+++ b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
@@ -212,8 +212,15 @@ TrackedObjects RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects()
     kinematics.orientation_availability = TrackedObjectKinematics::AVAILABLE;
     kinematics.is_stationary = false;
 
-    // Twist conversion
-    geometry_msgs::msg::Vector3 compensated_velocity = radar_track.velocity;
+    geometry_msgs::msg::Vector3 compensated_velocity{};
+    {
+      double rotate_yaw = tf2::getYaw(transform_->transform.rotation);
+      const geometry_msgs::msg::Vector3 & vel = radar_track.velocity;
+      compensated_velocity.x = vel.x * std::cos(rotate_yaw) - vel.y * std::sin(rotate_yaw);
+      compensated_velocity.y = vel.x * std::sin(rotate_yaw) + vel.y * std::cos(rotate_yaw);
+      compensated_velocity.z = radar_track.velocity.z;
+    }
+
     if (node_param_.use_twist_compensation) {
       if (odometry_data_) {
         compensated_velocity.x += odometry_data_->twist.twist.linear.x;
@@ -233,12 +240,12 @@ TrackedObjects RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects()
 
     double yaw = tier4_autoware_utils::normalizeRadian(
       std::atan2(compensated_velocity.y, compensated_velocity.x));
-    radar_pose_stamped.pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
 
     geometry_msgs::msg::PoseStamped transformed_pose_stamped{};
     tf2::doTransform(radar_pose_stamped, transformed_pose_stamped, *transform_);
     kinematics.pose_with_covariance.pose = transformed_pose_stamped.pose;
-
+    kinematics.pose_with_covariance.pose.orientation =
+      tier4_autoware_utils::createQuaternionFromYaw(yaw);
     {
       auto & pose_cov = kinematics.pose_with_covariance.covariance;
       auto & radar_position_cov = radar_track.position_covariance;

From c2330af7a6d4b95f431bc50c6adfecbc76b669e9 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Tue, 19 Sep 2023 14:17:42 +0900
Subject: [PATCH 5/5] fix conflict

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 ...ra_lidar_fusion_based_detection.launch.xml |  6 +--
 ...ar_radar_fusion_based_detection.launch.xml | 33 +++++++++++------
 .../detection/detection.launch.xml            | 37 +++++++++++++------
 .../lidar_based_detection.launch.xml          |  4 +-
 .../lidar_radar_based_detection.launch.xml    | 15 ++++----
 .../radar_based_detection.launch.xml          | 14 +++----
 .../launch/perception.launch.xml              | 28 ++++++++------
 7 files changed, 84 insertions(+), 53 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index c74c0fdcc63b7..7c18ad4bf9cd0 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface param -->
+  <!-- Interface parameters -->
   <arg name="output/objects" default="objects"/>
 
-  <!-- LiDAR param -->
+  <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="container_name" default="pointcloud_container"/>
@@ -19,7 +19,7 @@
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
 
-  <!-- Camera param -->
+  <!-- Camera parameters -->
   <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="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 99f09cfe6abbd..020b6ca77b64a 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface param -->
+  <!-- Interface parameters -->
   <arg name="output/objects" default="objects"/>
 
-  <!-- LiDAR param -->
+  <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="container_name" default="pointcloud_container"/>
 
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="score_threshold" default="0.35"/>
+  <arg name="lidar_detection_score_threshold" default="0.35"/>
 
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
@@ -19,7 +19,7 @@
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
 
-  <!-- Camera param -->
+  <!-- Camera parameters -->
   <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="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
@@ -46,8 +46,9 @@
   <arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
   <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
 
-  <!-- Radar param -->
+  <!-- Radar parameters -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
+  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
@@ -62,7 +63,7 @@
     <arg name="image_number" value="$(var image_number)"/>
   </include> -->
 
-  <!-- Radar detection-->
+  <!-- Radar detection -->
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
@@ -178,7 +179,7 @@
       <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
         <arg name="output/objects" value="objects"/>
-        <arg name="score_threshold" value="$(var score_threshold)"/>
+        <arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
@@ -250,7 +251,7 @@
     </include>
   </group>
 
-  <!-- Radar fusion-->
+  <!-- Radar fusion -->
   <group>
     <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
       <arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
@@ -259,7 +260,7 @@
     </include>
   </group>
 
-  <!-- Camera late fusion-->
+  <!-- Camera late fusion -->
   <group>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
       <arg name="input/camera_info0" value="$(var camera_info0)"/>
@@ -341,7 +342,7 @@
   <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
     <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
       <arg name="input/object" value="objects_before_filter"/>
-      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="output/object" value="near_objects"/>
       <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
     </include>
   </group>
@@ -349,8 +350,18 @@
   <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
     <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
       <arg name="input/object" value="objects_before_filter"/>
-      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="output/object" value="near_objects"/>
       <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
     </include>
   </group>
+
+  <!-- Merge far_objects and near_objects. This merger will be removed after tracking fusion operates stably. -->
+  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <arg name="input/object0" value="near_objects"/>
+    <arg name="input/object1" value="radar/far_objects"/>
+    <arg name="output/object" value="$(var output/objects)"/>
+    <arg name="priority_mode" value="0"/>
+    <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
+    <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
+  </include>
 </launch>
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 ca5d1d0f7e8bb..03cffb12583ec 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
@@ -1,8 +1,9 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Interface parameters -->
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
 
-  <!-- lidar param -->
+  <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
@@ -10,7 +11,7 @@
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
 
-  <!-- camera param -->
+  <!-- Camera parameters -->
   <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=""/>
@@ -29,14 +30,15 @@
   <arg name="camera_info7" default=""/>
   <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
 
-  <!-- camera lidar fusion param -->
+  <!-- Radar parameters -->
+  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
+  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
+
+  <!-- Camera-LiDAR fusion parameters -->
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
 
-  <!-- radar param -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-
-  <!-- camera lidar radar fusion based detection-->
+  <!-- Camera-LiDAR-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -64,11 +66,16 @@
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="remove_unknown" value="$(var remove_unknown)"/>
       <arg name="trust_distance" value="$(var trust_distance)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
     </include>
   </group>
 
-  <!-- camera lidar fusion based detection-->
+  <!-- Camera-LiDAR fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -97,7 +104,7 @@
     </include>
   </group>
 
-  <!-- lidar radar based detection-->
+  <!-- LiDAR-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -106,11 +113,18 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+<<<<<<< HEAD
+      <arg name="input/radar" value="$(var input/radar)"/>
+=======
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+>>>>>>> cca5fee5a8 (fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion (#5026))
     </include>
   </group>
 
-  <!-- lidar based detection-->
+  <!-- LiDAR based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -122,11 +136,12 @@
     </include>
   </group>
 
-  <!-- radar based detection-->
+  <!-- Radar based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
+      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 5b6134dc45584..01943a49d3d35 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -10,7 +10,7 @@
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="score_threshold" default="0.35"/>
+  <arg name="lidar_detection_score_threshold" default="0.35"/>
   <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
   <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
   <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
@@ -74,7 +74,7 @@
       <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
         <arg name="output/objects" value="objects"/>
-        <arg name="score_threshold" value="$(var score_threshold)"/>
+        <arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
index a47e6a86f1c7b..4eee611c33992 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -1,18 +1,19 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- lidar param -->
+  <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
-  <arg name="score_threshold" default="0.20"/>
+  <arg name="lidar_detection_score_threshold" default="0.35"/>
 
-  <!-- radar param -->
+  <!-- Radar parameters -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
+  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
 
-  <!-- lidar based detection-->
+  <!-- LiDAR detection-->
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -22,11 +23,11 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
-      <arg name="score_threshold" value="$(var score_threshold)"/>
+      <arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
     </include>
   </group>
 
-  <!-- radar detection-->
+  <!-- Radar detection-->
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
@@ -42,7 +43,7 @@
     </include>
   </group>
 
-  <!-- lidar radar fusion-->
+  <!-- LiDAR-Radar fusion-->
   <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
     <arg name="input/objects" value="lidar/objects"/>
     <arg name="input/radars" value="radar/noise_filtered_objects"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
index 8e2e23b510a07..52c8aedff8ef9 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
@@ -2,14 +2,14 @@
 <launch>
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
   <arg name="output/objects" default="far_objects"/>
-  <arg name="filter/angle_threshold" default="1.0472"/>
-  <arg name="filter/velocity_threshold" default="3.0"/>
-  <arg name="split/velocity_threshold" default="4.5"/>
-  <arg name="split_range" default="70.0"/>
-  <arg name="clustering/angle_threshold" default="0.174"/>
+  <arg name="filter/angle_threshold" default="1.221"/>
+  <arg name="filter/velocity_threshold" default="1.5"/>
+  <arg name="split/velocity_threshold" default="5.5"/>
+  <arg name="split_range" default="80.0"/>
+  <arg name="clustering/angle_threshold" default="0.349"/>
   <arg name="clustering/distance_threshold" default="10.0"/>
-  <arg name="clustering/velocity_threshold" default="4.0"/>
-  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml"/>
+  <arg name="clustering/velocity_threshold" default="5.0"/>
+  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
 
   <!-- Detection for far dynamic objects -->
   <include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index c41177e51116b..ec3fce594540a 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -13,6 +13,7 @@
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path"/>
   <arg name="object_recognition_detection_fusion_sync_param_path"/>
   <arg name="object_recognition_detection_lidar_model_param_path"/>
+  <arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"/>
@@ -24,11 +25,11 @@
   <arg name="occupancy_grid_map_updater_param_path"/>
   <arg name="traffic_light_arbiter_param_path"/>
 
-  <!-- centerpoint model configs -->
+  <!-- CenterPoint model parameters -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
   <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
 
-  <!-- common parameters -->
+  <!-- Common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
@@ -70,7 +71,8 @@
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="objects_filter_method" default="lanelet_filter"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
-  <!-- Traffic Light Recognition Parameters -->
+
+  <!-- Traffic light recognition parameters -->
   <arg name="use_traffic_light_recognition" default="true"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true"/>
   <arg name="traffic_light_recognition/fusion_only" default="false"/>
@@ -88,15 +90,15 @@
     description="options: `traffic_light_classifier_mobilenetv2_batch_*` or `traffic_light_classifier_efficientNet_b1_batch_*`. The batch number must be either one of 1, 4, 6"
   />
 
-  <!-- Camera Lidar Fusion Parameters -->
+  <!-- Camera-Lidar fusion parameters -->
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
 
-  <!-- perception module -->
+  <!-- Perception module -->
   <group>
     <push-ros-namespace namespace="perception"/>
 
-    <!-- object segmentation module -->
+    <!-- Object segmentation module -->
     <group>
       <push-ros-namespace namespace="obstacle_segmentation"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
@@ -109,7 +111,7 @@
       </include>
     </group>
 
-    <!-- occupancy grid map module -->
+    <!-- Occupancy grid map module -->
     <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
@@ -127,10 +129,10 @@
       </include>
     </group>
 
-    <!-- object recognition module -->
+    <!-- Object recognition module -->
     <group unless="$(var use_empty_dynamic_object_publisher)">
       <push-ros-namespace namespace="object_recognition"/>
-      <!-- detection module -->
+      <!-- Detection module -->
       <group>
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
@@ -161,6 +163,7 @@
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
           <arg name="voxel_grid_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
+          <arg name="radar_lanelet_filtering_range_param" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
@@ -171,14 +174,15 @@
         </include>
       </group>
 
-      <!-- tracking module -->
+      <!-- Tracking module -->
       <group>
         <push-ros-namespace namespace="tracking"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
           <arg name="mode" value="$(var mode)"/>
         </include>
       </group>
-      <!-- prediction module -->
+
+      <!-- Prediction module -->
       <group>
         <push-ros-namespace namespace="prediction"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
@@ -194,7 +198,7 @@
       </node>
     </group>
 
-    <!-- traffic light module -->
+    <!-- Traffic light module -->
     <group if="$(var use_traffic_light_recognition)">
       <push-ros-namespace namespace="traffic_light_recognition"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">