Vehicle-cpp/Nav/autoware_src/autoware/utilities/sync/launch/sync_track.launch

<!-- -->
<launch>
  <!-- send table.xml to param server -->
  <arg name="car" default="true" />
  <arg name="pedestrian" default="false" />
  <arg name="obj_car" default="obj_car" />
  <arg name="obj_person" default="obj_person" />


  <group ns="sync_tracking">
    <group if="$(arg car)">
      <group ns="obj_car">
        <node pkg="synchronization" type="sync_track" name="sync_$(arg obj_car)_tracking">
          <remap from="/image_obj_ranged" to="/$(arg obj_car)/image_obj_ranged"/>
          <remap from="/sync_drivers/image_raw" to="/sync_drivers/image_raw"/>
          <remap from="/image_obj_tracked" to="/$(arg obj_car)/image_obj_tracked"/>
          <remap from="/sync_tracking/image_obj_ranged" to="/sync_tracking/$(arg obj_car)/image_obj_ranged"/>
          <remap from="/sync_tracking/image_raw" to="/sync_tracking/$(arg obj_car)/image_raw"/>
        </node>
      </group>
    </group>

    <group if="$(arg pedestrian)">
      <group ns="obj_person">
        <node pkg="synchronization" type="sync_track" name="sync_$(arg obj_person)_tracking">
          <remap from="/image_obj_ranged" to="/$(arg obj_person)/image_obj_ranged"/>
          <remap from="/sync_drivers/image_raw" to="/sync_drivers/image_raw"/>
          <remap from="/image_obj_tracked" to="/$(arg obj_person)/image_obj_tracked"/>
          <remap from="/sync_tracking/image_obj_ranged" to="/sync_tracking/$(arg obj_person)/image_obj_ranged"/>
          <remap from="/sync_tracking/image_raw" to="/sync_tracking/$(arg obj_person)/image_raw"/>
        </node>
      </group>
    </group>
  </group>
</launch>