feat(tier4_localization_launch): change the default input pointcloud of localization into the concatenated pointcloud #6528
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Description
Autoware should cover the use cases where the concatenated pointcloud will be applied as an input to the localization, and we expect that the number of vehicles that use multiple LiDARs will increase..
Therefore, I've opened a PR in autoware_launch that will change the default
input_pointcloud
to/sensing/lidar/concatenated/pointcloud
instead of/sensing/lidar/top/pointcloud
.Due to this change, I also refactored the name of the argument
lidar_container_name
tolocalization_pointcloud_container_name
since the candidate pointcloud container may not be specific to such LiDAR (just like this case), and it makes the argument more clear that it is for the localization component.This PR must be merged with autowarefoundation/autoware_launch#899
Tests performed
Confirmed that the localization worked with the concatenated pointcloud in the logging_simulator tutorial.
Also tested with internal driving data, and evaluated through CARET that it hardly affected the system latency. [TIER IV INTERNAL LINK]
Effects on system behavior
The localization component will use
/sensing/lidar/concatenated/pointcloud
by default.The pointcloud preprocessing nodes in the localization component will join the
/pointcloud_container
by default.Pre-review checklist for the PR author
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