From 199563ea961e7921c131062e8dfed23fcf45de86 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Fri, 16 Feb 2024 13:40:06 +0900 Subject: [PATCH] feat(aip_x1_launch): rename some topics Signed-off-by: 1222-takeshi --- aip_x1_launch/launch/new_livox_horizon.launch.py | 2 +- aip_x1_launch/launch/pointcloud_preprocessor.launch.py | 6 +++--- aip_x1_launch/launch/topic_state_monitor.launch.py | 6 +++--- aip_x1_launch/launch/velodyne_node_container.launch.py | 2 +- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/aip_x1_launch/launch/new_livox_horizon.launch.py b/aip_x1_launch/launch/new_livox_horizon.launch.py index de3f8b9a..e09d7350 100644 --- 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 index ff012c8a..07dfb5a0 100644 --- 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 index b45b0f4e..8bb1bf68 100644 --- 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 index 5e6ab29a..cf35bff9 100644 --- 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"),