From c03bd4bdb70117efffc328e5fe6e57426f169b3b Mon Sep 17 00:00:00 2001
From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com>
Date: Mon, 4 Mar 2024 18:12:12 +0900
Subject: [PATCH] feat(tier4_localization_component_launch): change the default
 input pointcloud of localization into the concatenated pointcloud (#899)

* Make concat pointcloud default

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../components/tier4_localization_component.launch.xml | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 3ccd98104d..b8387c1d25 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -3,12 +3,8 @@
   <let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
   <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
   <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
-  <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>
-  <arg
-    name="lidar_container_name"
-    default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
-    description="The target container to which lidar preprocessing nodes in localization be attached"
-  />
+  <arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg name="localization_pointcloud_container_name" default="/pointcloud_container" description="The target container to which pointcloud preprocessing nodes in localization be attached"/>
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
@@ -16,7 +12,7 @@
       <arg name="twist_source" value="$(var twist_source)"/>
       <arg name="system_run_mode" value="$(var system_run_mode)"/>
       <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
-      <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+      <arg name="localization_pointcloud_container_name" value="$(var localization_pointcloud_container_name)"/>
 
       <!-- parameter paths for common -->
       <arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>