From 5d5b91d4df96e6702b88d0608bf7aba99db61dc4 Mon Sep 17 00:00:00 2001
From: Masahiro Kubota <42679530+masahiro-kubota@users.noreply.github.com>
Date: Wed, 11 Sep 2024 13:50:11 +0900
Subject: [PATCH] feat: add topic tools (#91)

* add topic tools

Signed-off-by: Masahiro Kubota <norikenpi@gmail.com>

* modify launch

Signed-off-by: Masahiro Kubota <norikenpi@gmail.com>

---------

Signed-off-by: Masahiro Kubota <norikenpi@gmail.com>
---
 .../src/aichallenge_launch/launch/aichallenge.launch.xml     | 5 +++++
 aichallenge/workspace/src/aichallenge_launch/package.xml     | 2 +-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge.launch.xml b/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge.launch.xml
index 285245ca..635f8a27 100644
--- a/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge.launch.xml
+++ b/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge.launch.xml
@@ -271,6 +271,11 @@
     </include>
   </group>
 
+  <node pkg="topic_tools" exec="relay" name="initial_pose_relay">
+    <param name="input_topic" value="/initialpose"/>
+    <param name="output_topic" value="/localization/initial_pose3d"/>
+  </node>
+
   <!-- API -->
   <group>
     <!-- default_ad_api -->
diff --git a/aichallenge/workspace/src/aichallenge_launch/package.xml b/aichallenge/workspace/src/aichallenge_launch/package.xml
index 95316b9c..865917c9 100644
--- a/aichallenge/workspace/src/aichallenge_launch/package.xml
+++ b/aichallenge/workspace/src/aichallenge_launch/package.xml
@@ -41,7 +41,7 @@
   <exec_depend>tier4_vehicle_rviz_plugin</exec_depend>
   <exec_depend>multi_data_monitor</exec_depend>
   <exec_depend>generic_type_utility</exec_depend>
-
+  <exec_depend>topic_tools</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>