feat(aip_x1_launch): rename some topics

Signed-off-by: 1222-takeshi <[email protected]>
tier4 · Feb 16, 2024 · 199563e · 199563e
1 parent b42ff60
commit 199563e
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Showing 4 changed files with 8 additions and 8 deletions.
diff --git a/aip_x1_launch/launch/new_livox_horizon.launch.py b/aip_x1_launch/launch/new_livox_horizon.launch.py
@@ -52,7 +52,7 @@ def get_crop_box_min_range_component(context, livox_frame_id):
         name="crop_box_filter_min_range",
         remappings=[
             ("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"),
-            ("output", "min_range_cropped/pointcloud"),
+            ("output", "pointcloud"),
         ],
         parameters=[
             {

diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -37,9 +37,9 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/front_left/min_range_cropped/pointcloud",
-                    "/sensing/lidar/front_right/min_range_cropped/pointcloud",
-                    "/sensing/lidar/front_center/min_range_cropped/pointcloud",
+                    "/sensing/lidar/front_left/pointcloud",
+                    "/sensing/lidar/front_right/pointcloud",
+                    "/sensing/lidar/front_center/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "timeout_sec": 1.0,

diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.py b/aip_x1_launch/launch/topic_state_monitor.launch.py
@@ -99,7 +99,7 @@ def generate_launch_description():
         name="topic_state_monitor_livox_front_left_min_range_cropped",
         parameters=[
             {
-                "topic": "/sensing/lidar/front_left/min_range_cropped/pointcloud",
+                "topic": "/sensing/lidar/front_left/pointcloud",
                 "topic_type": "sensor_msgs/msg/PointCloud2",
                 "best_effort": True,
                 "diag_name": "sensing_topic_status",
@@ -117,7 +117,7 @@ def generate_launch_description():
         name="topic_state_monitor_livox_front_right_min_range_cropped",
         parameters=[
             {
-                "topic": "/sensing/lidar/front_right/min_range_cropped/pointcloud",
+                "topic": "/sensing/lidar/front_right/pointcloud",
                 "topic_type": "sensor_msgs/msg/PointCloud2",
                 "best_effort": True,
                 "diag_name": "sensing_topic_status",
@@ -135,7 +135,7 @@ def generate_launch_description():
         name="topic_state_monitor_livox_front_center_min_range_cropped",
         parameters=[
             {
-                "topic": "/sensing/lidar/front_center/min_range_cropped/pointcloud",
+                "topic": "/sensing/lidar/front_center/pointcloud",
                 "topic_type": "sensor_msgs/msg/PointCloud2",
                 "best_effort": True,
                 "diag_name": "sensing_topic_status",

diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py
@@ -135,7 +135,7 @@ def create_parameter_dict(*args):
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         # need unique name, otherwise all processes in same container and the node names then clash
-        name="velodyne_node_container",
+        name="pointcloud_container",
         namespace="pointcloud_preprocessor",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),