refactor(tier4_localization_launch): change input/pointcloud param

autowarefoundation · Jul 26, 2023 · 9c6786c · 9c6786c
1 parent 13b96ad
commit 9c6786c
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -14,7 +14,7 @@
   <arg name="pose_initializer_param_path"/>
   <arg name="eagleye_param_path"/>
 
-  <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg name="input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 

diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
@@ -21,7 +21,9 @@
         <arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
       </include>
       <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
-      <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
+      <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
+        <arg name="input/pointcloud" value="$(var input_pointcloud)"/>
+      </include>
     </group>
   </group>