From c88c0c31288b0ac3c44e2913272d23305e63e337 Mon Sep 17 00:00:00 2001
From: Yamato Ando <yamato.ando@gmail.com>
Date: Tue, 12 Dec 2023 17:13:03 +0900
Subject: [PATCH] refactor(localization_launch, ground_segmentation_launch):
 rename lidar topic (#5781)

rename lidar topic

Signed-off-by: yamato-ando <Yamato ANDO>
Co-authored-by: yamato-ando <Yamato ANDO>
---
 launch/tier4_localization_launch/launch/localization.launch.xml | 2 +-
 .../ground_segmentation/ground_segmentation.launch.py           | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
index 8538179253480..3fba4bd773e68 100644
--- a/launch/tier4_localization_launch/launch/localization.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -14,7 +14,7 @@
   <arg name="pose_initializer_param_path"/>
   <arg name="eagleye_param_path"/>
 
-  <arg name="input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud"/>
+  <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index 12190fb659235..32a3fa102897d 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -78,7 +78,7 @@ def create_additional_pipeline(self, lidar_name):
                 plugin="pointcloud_preprocessor::CropBoxFilterComponent",
                 name=f"{lidar_name}_crop_box_filter",
                 remappings=[
-                    ("input", f"/sensing/lidar/{lidar_name}/outlier_filtered/pointcloud"),
+                    ("input", f"/sensing/lidar/{lidar_name}/pointcloud"),
                     ("output", f"{lidar_name}/range_cropped/pointcloud"),
                 ],
                 parameters=[