refactor(tier4_localization_launch): change input/pointcloud param (#…

…4411) * refactor(tier4_localization_launch): change input/pointcloud param * parameter renaming moved util.launch.py
autowarefoundation · Jul 28, 2023 · dd8e1d6 · dd8e1d6
1 parent 7a4a8f8
commit dd8e1d6
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Showing 2 changed files with 2 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/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py
@@ -34,7 +34,7 @@ def load_composable_node_param(param_path):
         plugin="pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_measurement_range",
         remappings=[
-            ("input", LaunchConfiguration("input/pointcloud")),
+            ("input", LaunchConfiguration("input_pointcloud")),
             ("output", "measurement_range/pointcloud"),
         ],
         parameters=[