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feat: change topic name
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Signed-off-by: 1222-takeshi <[email protected]>
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1222-takeshi committed Dec 13, 2023
1 parent ac41451 commit 5c61b11
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Showing 4 changed files with 3 additions and 5 deletions.
2 changes: 1 addition & 1 deletion aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ def launch_setup(context, *args, **kwargs):
parameters=[
{
"input_topics": [
"/sensing/lidar/top/outlier_filtered/pointcloud",
"/sensing/lidar/top/pointcloud",
"/sensing/lidar/front_center/pointcloud_raw",
],
"output_frame": LaunchConfiguration("base_frame"),
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2 changes: 0 additions & 2 deletions aip_x1_1_launch/launch/sensing.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,6 @@
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
<arg name="use_awsim" default="false"/>
<let name="imu_raw_name" value="tamagawa/imu_raw" if ="$(var use_awsim)"/>
<let name="imu_raw_name" value="/sensing/lidar/front_center/livox/imu" unless ="$(var use_awsim)"/>

<group>
<!-- LiDAR Driver -->
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2 changes: 1 addition & 1 deletion aip_x1_1_launch/launch/topic_state_monitor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ def generate_launch_description():
name="topic_state_monitor_top_outlier_filtered",
parameters=[
{
"topic": "/sensing/lidar/top/outlier_filtered/pointcloud",
"topic": "/sensing/lidar/top/pointcloud",
"topic_type": "sensor_msgs/msg/PointCloud2",
"best_effort": True,
"diag_name": "sensing_topic_status",
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2 changes: 1 addition & 1 deletion aip_x1_1_launch/launch/velodyne_node_container.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -140,7 +140,7 @@ def create_parameter_dict(*args):
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
("output", "outlier_filtered/pointcloud"),
("output", "pointcloud"),
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
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