From e469452c0f1cf4268b930f63fc321103ab5844c6 Mon Sep 17 00:00:00 2001
From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>
Date: Tue, 5 Mar 2024 09:57:59 +0900
Subject: [PATCH] chore(ground_segmentation): rename topic and node (#6536)

* chore(ground_segmentation): rename topic and node

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* docs: update synchronized_grid_map_fusion

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

---------

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../ground_segmentation/ground_segmentation.launch.py         | 4 ++--
 launch/tier4_perception_launch/launch/perception.launch.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index fecdd29bcb7e9..b6d93c86f09f2 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -41,7 +41,7 @@ def __init__(self, context):
             self.ground_segmentation_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
         self.single_frame_obstacle_seg_output = (
-            "/perception/obstacle_segmentation/single_frame/pointcloud_raw"
+            "/perception/obstacle_segmentation/single_frame/pointcloud"
         )
         self.output_topic = "/perception/obstacle_segmentation/pointcloud"
         self.use_single_frame_filter = self.ground_segmentation_param["use_single_frame_filter"]
@@ -298,7 +298,7 @@ def create_time_series_outlier_filter_components(input_topic, output_topic):
             ComposableNode(
                 package="occupancy_grid_map_outlier_filter",
                 plugin="occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent",
-                name="occupancy_grid_map_outlier_filter",
+                name="occupancy_grid_based_outlier_filter",
                 remappings=[
                     ("~/input/occupancy_grid_map", "/perception/occupancy_grid_map/map"),
                     ("~/input/pointcloud", input_topic),
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index c0e1e2ecbfecd..35c85104e9dc9 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -128,7 +128,7 @@
     <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
-        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
+        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
         <arg name="input/raw_pointcloud" value="$(var input/pointcloud)"/>
         <arg name="output" value="/perception/occupancy_grid_map/map"/>
         <arg name="use_intra_process" value="true"/>