From 6711df3c6155bd1d0ecf5da5a6905d96985d6eb6 Mon Sep 17 00:00:00 2001 From: yamato-ando Date: Tue, 5 Dec 2023 18:11:33 +0900 Subject: [PATCH] rename lidar topic Signed-off-by: yamato-ando --- .../launch/velodyne_node_container.launch.py | 2 +- .../launch/pointcloud_preprocessor.launch.py | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/common_sensor_launch/launch/velodyne_node_container.launch.py b/common_sensor_launch/launch/velodyne_node_container.launch.py index 6613392..0d61831 100644 --- a/common_sensor_launch/launch/velodyne_node_container.launch.py +++ b/common_sensor_launch/launch/velodyne_node_container.launch.py @@ -157,7 +157,7 @@ def create_parameter_dict(*args): name="ring_outlier_filter", remappings=[ ("input", "rectified/pointcloud_ex"), - ("output", "outlier_filtered/pointcloud"), + ("output", "pointcloud"), ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py index 18b1bf3..722e857 100644 --- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py +++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py @@ -36,9 +36,9 @@ def launch_setup(context, *args, **kwargs): parameters=[ { "input_topics": [ - "/sensing/lidar/top/outlier_filtered/pointcloud", - "/sensing/lidar/left/outlier_filtered/pointcloud", - "/sensing/lidar/right/outlier_filtered/pointcloud", + "/sensing/lidar/top/pointcloud", + "/sensing/lidar/left/pointcloud", + "/sensing/lidar/right/pointcloud", ], "output_frame": LaunchConfiguration("base_frame"), }