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refactor: rename lidar topic #7

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merged 1 commit into from
Dec 12, 2023
Merged

refactor: rename lidar topic #7

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2 changes: 1 addition & 1 deletion common_sensor_launch/launch/velodyne_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -157,7 +157,7 @@
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")}],
)
Expand Down Expand Up @@ -246,7 +246,7 @@
"vehicle_mirror_param_file", description="path to the file of vehicle mirror position yaml"
)
add_launch_arg("use_multithread", "False", "use multithread")
add_launch_arg("use_intra_process", "False", "use ROS2 component container communication")

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set_container_executable = SetLaunchConfiguration(
"container_executable",
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6 changes: 3 additions & 3 deletions sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -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"),
}
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