From 89b3dd4293e8e82786f6476441cf5e14014cbe7d Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Tue, 12 Dec 2023 17:13:25 +0900 Subject: [PATCH] rename lidar topic (#12) Signed-off-by: yamato-ando Co-authored-by: yamato-ando --- .../launch/pointcloud_preprocessor.launch.py | 6 +++--- .../launch/velodyne_node_container.launch.py | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py index e41aeef..eb1c9a2 100644 --- 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 index 0b27efb..e8e778c 100644 --- 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")}], )