From 696105b232cad7088f9697c9e1351ddd5415204b Mon Sep 17 00:00:00 2001 From: kminoda Date: Tue, 26 Sep 2023 09:27:07 +0900 Subject: [PATCH] fix(pointcloud_preprocessor): organize input twist topic Signed-off-by: kminoda --- aip_x1_launch/launch/pointcloud_preprocessor.launch.py | 6 +++++- aip_x2_launch/launch/pointcloud_preprocessor.launch.py | 1 + aip_xx1_launch/launch/pointcloud_preprocessor.launch.py | 1 + 3 files changed, 7 insertions(+), 1 deletion(-) diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py index ca28768c..17ff681e 100644 --- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py @@ -30,7 +30,10 @@ def launch_setup(context, *args, **kwargs): package="pointcloud_preprocessor", plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", name="concatenate_data", - remappings=[("output", "concatenated/pointcloud")], + remappings=[ + ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), + ("output", "concatenated/pointcloud") + ], parameters=[ { "input_topics": [ @@ -41,6 +44,7 @@ def launch_setup(context, *args, **kwargs): ], "output_frame": LaunchConfiguration("base_frame"), "timeout_sec": 1.0, + "input_twist_topic_type": "twist", } ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py index cca7ebc5..ae5c2022 100644 --- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py @@ -50,6 +50,7 @@ def launch_setup(context, *args, **kwargs): "input_offset": [0.025, 0.025, 0.01, 0.0, 0.05, 0.05, 0.05, 0.05], "timeout_sec": 0.075, "output_frame": LaunchConfiguration("base_frame"), + "input_twist_topic_type": "twist", } ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py index 388a0c98..377c916e 100644 --- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py @@ -51,6 +51,7 @@ def launch_setup(context, *args, **kwargs): 0.025, ], # each sensor will wait 60, 70, 70, 70ms "timeout_sec": 0.095, # set shorter than 100ms + "input_twist_topic_type": "twist", } ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],