From 5ccd754fde6a39d8ddb3a8ee2f0f0e8be540f6a5 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Tue, 12 Dec 2023 17:13:13 +0900 Subject: [PATCH] refactor: rename lidar topic (#82) rename lidar topic Signed-off-by: yamato-ando Co-authored-by: yamato-ando --- common_sensor_launch/launch/nebula_node_container.launch.py | 2 +- .../launch/pointcloud_preprocessor.launch.py | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index a237372e..a79681b8 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -187,7 +187,7 @@ 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")}], ) diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py index f5d6b13b..420854dc 100644 --- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py +++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py @@ -38,9 +38,9 @@ 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"), "input_twist_topic_type": "twist",