feat: add localization_input_pointcloud argument to autoware.launch

Signed-off-by: tomoya.kimura <[email protected]>
tier4 · Nov 29, 2023 · 36047d1 · 36047d1
1 parent 62443fd
commit 36047d1
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Showing 4 changed files with 12 additions and 2 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -29,6 +29,8 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- Localization -->
+  <arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>

diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -3,7 +3,7 @@
   <let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
   <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
   <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
-  <arg name="input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
@@ -12,7 +12,7 @@
       <arg name="pose_source" value="$(var pose_source)"/>
       <arg name="twist_source" value="$(var twist_source)"/>
       <arg name="system_run_mode" value="$(var system_run_mode)"/>
-      <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
+      <arg name="input_pointcloud" value="$(var localization_input_pointcloud)"/>
 
       <!-- parameter paths for common -->
       <arg name="crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/crop_box_filter_measurement_range.param.yaml"/>

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -25,6 +25,8 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- Localization -->
+  <arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
@@ -63,6 +65,8 @@
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
+      <!-- Localization -->
+      <arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)" />
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
     </include>

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -10,6 +10,8 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- Localization -->
+  <arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
@@ -54,6 +56,8 @@
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
+      <!-- Localization -->
+      <arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)" />
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>