Merge pull request #694 from tier4/feat/ndt-concatenate

feat: ndt with concatenated point cloud

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -3,12 +3,8 @@
   <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/left_upper/pointcloud_before_sync" description="The topic will be used in the localization util module"/>
-  <arg
-    name="localization_pointcloud_container_name"
-    default="/sensing/lidar/left_upper/pointcloud_container"
-    description="The target container to which pointcloud preprocessing nodes in localization be attached"
-  />
+  <arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg name="localization_pointcloud_container_name" default="/pointcloud_container" description="The target container to which pointcloud preprocessing nodes in localization be attached"/>
   <arg name="initial_pose" default="[]" description="initial pose (x, y, z, quat_x, quat_y, quat_z, quat_w)"/>
 
   <group>