feat: update launch param yaml

Signed-off-by: yoshiri <[email protected]>
autowarefoundation · Mar 4, 2024 · 0fb3308 · 0fb3308
1 parent 6c93665
commit 0fb3308
Showing 1 changed file with 3 additions and 7 deletions.
diff --git a/.../perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/.../perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml
@@ -36,17 +36,13 @@
         # Setting1: tune ogm creation parameters
         obstacle_pointcloud_topic: "/perception/obstacle_segmentation/single_frame/pointcloud_raw"
         raw_pointcloud_topics: # put each sensor's pointcloud topic
-          - "/sensing/lidar/top/pointcloud_synchronized"
-          - "/sensing/lidar/left/pointcloud_synchronized"
-          - "/sensing/lidar/right/pointcloud_synchronized"
+          - "/sensing/lidar/top/pointcloud"
+          - "/sensing/lidar/left/pointcloud"
+          - "/sensing/lidar/right/pointcloud"
         fusion_input_ogm_topics:
           - "/perception/occupancy_grid_map/top_lidar/map"
           - "/perception/occupancy_grid_map/left_lidar/map"
           - "/perception/occupancy_grid_map/right_lidar/map"
-        # each_ogm_sensor_frames:
-        #   - "velodyne_top"
-        #   - "velodyne_left"
-        #   - "velodyne_right"
         # reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer"
         input_ogm_reliabilities:
           - 1.0