fix(pointcloud_preprocessor): organize input twist topic (#8)

* fix(pointcloud_preprocessor): organize input twist topic Signed-off-by: kminoda <[email protected]> * fix Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]>
tier4 · Oct 6, 2023 · 27992fe · 27992fe
1 parent a1f5993
commit 27992fe
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -32,7 +32,10 @@ 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": [
@@ -42,6 +45,7 @@ def launch_setup(context, *args, **kwargs):
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "timeout_sec": 0.01,
+                "input_twist_topic_type": "twist",
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],