From 843fb3fd2e9372bc505de2bfd9e5c651b5e33785 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Tue, 12 Dec 2023 10:36:38 +0900 Subject: [PATCH] feat(aip_launch): rename lidar topic Signed-off-by: tomoya.kimura --- .../launch/pointcloud_preprocessor.launch.py | 2 +- .../launch/topic_state_monitor.launch.py | 2 +- .../launch/topic_state_monitor.launch.xml | 2 +- .../launch/velodyne_node_container.launch.py | 2 +- .../launch/pandar_node_container.launch.py | 4 ++-- .../launch/pointcloud_preprocessor.launch.py | 16 ++++++++-------- .../launch/pointcloud_preprocessor.launch.py | 8 ++++---- .../launch/nebula_node_container.launch.py | 2 +- 8 files changed, 19 insertions(+), 19 deletions(-) diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py index bf120a8f..4a3ad9e1 100644 --- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py @@ -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_left/min_range_cropped/pointcloud", "/sensing/lidar/front_right/min_range_cropped/pointcloud", "/sensing/lidar/front_center/min_range_cropped/pointcloud", diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.py b/aip_x1_launch/launch/topic_state_monitor.launch.py index 6692021d..b45b0f4e 100644 --- a/aip_x1_launch/launch/topic_state_monitor.launch.py +++ b/aip_x1_launch/launch/topic_state_monitor.launch.py @@ -81,7 +81,7 @@ 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", diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.xml b/aip_x1_launch/launch/topic_state_monitor.launch.xml index 6115d18e..8912fb67 100644 --- a/aip_x1_launch/launch/topic_state_monitor.launch.xml +++ b/aip_x1_launch/launch/topic_state_monitor.launch.xml @@ -34,7 +34,7 @@ - + diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py index 95af023c..56b35116 100644 --- a/aip_x1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_launch/launch/velodyne_node_container.launch.py @@ -128,7 +128,7 @@ 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")}], ) diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py index 4c87d76c..cfb39cc4 100644 --- a/aip_x2_launch/launch/pandar_node_container.launch.py +++ b/aip_x2_launch/launch/pandar_node_container.launch.py @@ -208,7 +208,7 @@ 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")}], ) @@ -219,7 +219,7 @@ def create_parameter_dict(*args): name="dual_return_filter", remappings=[ ("input", "rectified/pointcloud_ex"), - ("output", "outlier_filtered/pointcloud"), + ("output", "pointcloud"), ], parameters=[ { diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py index ae5c2022..4ef586ff 100644 --- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py @@ -38,14 +38,14 @@ def launch_setup(context, *args, **kwargs): parameters=[ { "input_topics": [ - "/sensing/lidar/front_upper/outlier_filtered/pointcloud", - "/sensing/lidar/front_lower/outlier_filtered/pointcloud", - "/sensing/lidar/left_upper/outlier_filtered/pointcloud", - "/sensing/lidar/left_lower/outlier_filtered/pointcloud", - "/sensing/lidar/right_upper/outlier_filtered/pointcloud", - "/sensing/lidar/right_lower/outlier_filtered/pointcloud", - "/sensing/lidar/rear_upper/outlier_filtered/pointcloud", - "/sensing/lidar/rear_lower/outlier_filtered/pointcloud", + "/sensing/lidar/front_upper/pointcloud", + "/sensing/lidar/front_lower/pointcloud", + "/sensing/lidar/left_upper/pointcloud", + "/sensing/lidar/left_lower/pointcloud", + "/sensing/lidar/right_upper/pointcloud", + "/sensing/lidar/right_lower/pointcloud", + "/sensing/lidar/rear_upper/pointcloud", + "/sensing/lidar/rear_lower/pointcloud", ], "input_offset": [0.025, 0.025, 0.01, 0.0, 0.05, 0.05, 0.05, 0.05], "timeout_sec": 0.075, diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py index 377c916e..e1888824 100644 --- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py @@ -38,10 +38,10 @@ def launch_setup(context, *args, **kwargs): parameters=[ { "input_topics": [ - "/sensing/lidar/top/outlier_filtered/pointcloud", - "/sensing/lidar/left/outlier_filtered/pointcloud", - "/sensing/lidar/right/outlier_filtered/pointcloud", - "/sensing/lidar/rear/outlier_filtered/pointcloud", + "/sensing/lidar/top/pointcloud", + "/sensing/lidar/left/pointcloud", + "/sensing/lidar/right/pointcloud", + "/sensing/lidar/rear/pointcloud", ], "output_frame": LaunchConfiguration("base_frame"), "input_offset": [ diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index a237372e..a79681b8 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -187,7 +187,7 @@ 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")}], )