fix(pointcloud_preprocessor): organize input twist topic

Signed-off-by: kminoda <[email protected]>
tier4 · Sep 26, 2023 · 8c074b1 · 8c074b1
1 parent 0245cd8
commit 8c074b1
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Showing 3 changed files with 7 additions and 1 deletion.
diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -30,7 +30,10 @@ def launch_setup(context, *args, **kwargs):
         package="pointcloud_preprocessor",
         plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
         name="concatenate_data",
-        remappings=[("output", "concatenated/pointcloud")],
+        remappings=[
+            ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
+            ("output", "concatenated/pointcloud")
+        ],
         parameters=[
             {
                 "input_topics": [
@@ -41,6 +44,7 @@ def launch_setup(context, *args, **kwargs):
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "timeout_sec": 1.0,
+                "input_twist_topic_type": "twist",
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],

diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -50,6 +50,7 @@ def launch_setup(context, *args, **kwargs):
                 "input_offset": [0.025, 0.025, 0.01, 0.0, 0.05, 0.05, 0.05, 0.05],
                 "timeout_sec": 0.075,
                 "output_frame": LaunchConfiguration("base_frame"),
+                "input_twist_topic_type": "twist",
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],

diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -51,6 +51,7 @@ def launch_setup(context, *args, **kwargs):
                     0.025,
                 ],  # each sensor will wait 60, 70, 70, 70ms
                 "timeout_sec": 0.095,  # set shorter than 100ms
+                "input_twist_topic_type": "twist",
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],