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refactor(localization_launch, ground_segmentation_launch): rename lidar topic #5781

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Dec 12, 2023
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refactor(localization_launch, ground_segmentation_launch): rename lidar topic #5781

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2 changes: 1 addition & 1 deletion launch/tier4_localization_launch/launch/localization.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>

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2 changes: 1 addition & 1 deletion ...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
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Expand Up @@ -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=[
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