rename lidar topic

Signed-off-by: yamato-ando <Yamato ANDO>
autowarefoundation · Dec 5, 2023 · 6c50160 · 6c50160
1 parent 9d0bdac
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diff --git a/...g-vehicle-and-sensor-model/calibrating-sensors/lidar-lidar-calibration/index.md b/...g-vehicle-and-sensor-model/calibrating-sensors/lidar-lidar-calibration/index.md
@@ -37,7 +37,7 @@ The following shows an example of a bag file used for this calibration:
     End:               Sep  5 2023 11:25:43.808 (1693902343.808)
     Messages:          2256
     Topic information: Topic: /sensing/lidar/front/pointcloud_raw | Type: sensor_msgs/msg/PointCloud2 | Count: 1128 | Serialization Format: cdr
-                       Topic: /sensing/lidar/top/outlier_filtered/pointcloud | Type: sensor_msgs/msg/PointCloud2 | Count: 1128 | Serialization Format: cdr
+                       Topic: /sensing/lidar/top/pointcloud | Type: sensor_msgs/msg/PointCloud2 | Count: 1128 | Serialization Format: cdr
     ```
 
 ## Mapping-based lidar-lidar calibration
@@ -190,13 +190,13 @@ calibration_lidar_base_frames and calibration_lidar_frames for calibrator:
 After that, we will add the sensor topics and sensor frames in order to do that,
 we will continue filling the `mapping_based_sensor_kit.launch.xml` with
 (we recommend
-using the /sensing/lidar/top/outlier_filtered/pointcloud topic as the mapping pointcloud
+using the /sensing/lidar/top/pointcloud topic as the mapping pointcloud
 because the vehicle cloud is cropped at this topic by pointcloud preprocessing):
 
 ```diff
 
 -     <let name="mapping_lidar_frame" value="velodyne_top"/>
--     <let name="mapping_pointcloud" value="/sensing/lidar/top/outlier_filtered/pointcloud"/>
+-     <let name="mapping_pointcloud" value="/sensing/lidar/top/pointcloud"/>
 +     <let name="mapping_lidar_frame" value="<MAPPING_LIDAR_SENSOR_LINK>"/>
 +     <let name="mapping_pointcloud" value="<MAPPING_LIDAR_POINTCLOUD_TOPIC_NAME>"/>
 

diff --git a/...ating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md b/...ating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md
@@ -524,7 +524,7 @@ you can modify the pipeline components like this way:
 +           name="dual_return_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
-                ("output", "outlier_filtered/pointcloud"),
+                ("output", "pointcloud"),
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )