fix odometry topic of radar driver

Signed-off-by: Tomohito Ando <[email protected]>

aip_x2_launch/launch/radar.launch.xml

@@ -2,7 +2,7 @@
 <launch>
   <arg name="launch_driver" default="true" description="do launch driver"/>
 
-  <let name="odometry_topic" value="/localization/kinematic_state"/>
+  <let name="odometry_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
   <let name="acceleration_topic" value="/localization/acceleration"/>
   <let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
   <arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>
@@ -38,7 +38,7 @@
 
       <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
         <arg name="output/radar_tracked_objects" value="tracked_objects"/>
         <arg name="use_twist_compensation" value="false"/>
@@ -70,7 +70,7 @@
 
       <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
         <arg name="output/radar_tracked_objects" value="tracked_objects"/>
         <arg name="use_twist_compensation" value="false"/>
@@ -102,7 +102,7 @@
 
       <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
         <arg name="output/radar_tracked_objects" value="tracked_objects"/>
         <arg name="use_twist_compensation" value="false"/>
@@ -133,7 +133,7 @@
 
       <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
         <arg name="output/radar_tracked_objects" value="tracked_objects"/>
         <arg name="use_twist_compensation" value="false"/>
@@ -164,7 +164,7 @@
 
       <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
         <arg name="output/radar_tracked_objects" value="tracked_objects"/>
         <arg name="use_twist_compensation" value="false"/>
@@ -195,7 +195,7 @@
 
       <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
         <arg name="output/radar_tracked_objects" value="tracked_objects"/>
         <arg name="use_twist_compensation" value="false"/>