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feat(aip_launch): rename lidar topic #189

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merged 1 commit into from
Dec 12, 2023
Merged

feat(aip_launch): rename lidar topic #189

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2 changes: 1 addition & 1 deletion aip_x1_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ def launch_setup(context, *args, **kwargs):
parameters=[
{
"input_topics": [
"/sensing/lidar/top/outlier_filtered/pointcloud",
"/sensing/lidar/top/pointcloud",
"/sensing/lidar/front_left/min_range_cropped/pointcloud",
"/sensing/lidar/front_right/min_range_cropped/pointcloud",
"/sensing/lidar/front_center/min_range_cropped/pointcloud",
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2 changes: 1 addition & 1 deletion aip_x1_launch/launch/topic_state_monitor.launch.py
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Expand Up @@ -81,7 +81,7 @@ def generate_launch_description():
name="topic_state_monitor_top_outlier_filtered",
parameters=[
{
"topic": "/sensing/lidar/top/outlier_filtered/pointcloud",
"topic": "/sensing/lidar/top/pointcloud",
"topic_type": "sensor_msgs/msg/PointCloud2",
"best_effort": True,
"diag_name": "sensing_topic_status",
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2 changes: 1 addition & 1 deletion aip_x1_launch/launch/topic_state_monitor.launch.xml
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Expand Up @@ -34,7 +34,7 @@
<!-- Topic Monitor for Concat Filter -->
<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="top_outlier_filtered"/>
<arg name="topic" value="/sensing/lidar/top/outlier_filtered/pointcloud"/>
<arg name="topic" value="/sensing/lidar/top/pointcloud"/>
<arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="sensing_topic_status"/>
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2 changes: 1 addition & 1 deletion aip_x1_launch/launch/velodyne_node_container.launch.py
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Expand Up @@ -128,7 +128,7 @@
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 @@ -217,7 +217,7 @@
"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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4 changes: 2 additions & 2 deletions aip_x2_launch/launch/pandar_node_container.launch.py
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Expand Up @@ -208,7 +208,7 @@ 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")}],
)
Expand All @@ -219,7 +219,7 @@ def create_parameter_dict(*args):
name="dual_return_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
("output", "outlier_filtered/pointcloud"),
("output", "pointcloud"),
],
parameters=[
{
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16 changes: 8 additions & 8 deletions aip_x2_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -38,14 +38,14 @@ def launch_setup(context, *args, **kwargs):
parameters=[
{
"input_topics": [
"/sensing/lidar/front_upper/outlier_filtered/pointcloud",
"/sensing/lidar/front_lower/outlier_filtered/pointcloud",
"/sensing/lidar/left_upper/outlier_filtered/pointcloud",
"/sensing/lidar/left_lower/outlier_filtered/pointcloud",
"/sensing/lidar/right_upper/outlier_filtered/pointcloud",
"/sensing/lidar/right_lower/outlier_filtered/pointcloud",
"/sensing/lidar/rear_upper/outlier_filtered/pointcloud",
"/sensing/lidar/rear_lower/outlier_filtered/pointcloud",
"/sensing/lidar/front_upper/pointcloud",
"/sensing/lidar/front_lower/pointcloud",
"/sensing/lidar/left_upper/pointcloud",
"/sensing/lidar/left_lower/pointcloud",
"/sensing/lidar/right_upper/pointcloud",
"/sensing/lidar/right_lower/pointcloud",
"/sensing/lidar/rear_upper/pointcloud",
"/sensing/lidar/rear_lower/pointcloud",
],
"input_offset": [0.025, 0.025, 0.01, 0.0, 0.05, 0.05, 0.05, 0.05],
"timeout_sec": 0.075,
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8 changes: 4 additions & 4 deletions aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,10 +38,10 @@ 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/rear/outlier_filtered/pointcloud",
"/sensing/lidar/top/pointcloud",
"/sensing/lidar/left/pointcloud",
"/sensing/lidar/right/pointcloud",
"/sensing/lidar/rear/pointcloud",
],
"output_frame": LaunchConfiguration("base_frame"),
"input_offset": [
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2 changes: 1 addition & 1 deletion common_sensor_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -187,7 +187,7 @@ 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")}],
)
Expand Down
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