rename lidar topic

Signed-off-by: yamato-ando <Yamato ANDO>
tier4 · Dec 5, 2023 · 0f31ed5 · 0f31ed5
1 parent 39891af
commit 0f31ed5
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -39,9 +39,9 @@ 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"),
                 "timeout_sec": 0.01,

diff --git a/common_awsim_sensor_launch/launch/velodyne_node_container.launch.py b/common_awsim_sensor_launch/launch/velodyne_node_container.launch.py
@@ -113,7 +113,7 @@ 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")}],
         )