From 2e83baccc5e6f6aaebf63e9006e4df4ee865f3eb Mon Sep 17 00:00:00 2001
From: SakodaShintaro <shintaro.sakoda@tier4.jp>
Date: Thu, 11 Jan 2024 01:58:37 +0900
Subject: [PATCH] refactor(ndt_scan_matcher): fixed ndt_scan_matcher.launch.xml
 (#6041)

Fixed ndt_scan_matcher.launch.xml

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
 .../ndt_scan_matcher.launch.xml                  |  7 +++++--
 .../launch/ndt_scan_matcher.launch.xml           | 16 ++++++++--------
 2 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
index e4b04d3d4a32e..bee300c587816 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
@@ -2,13 +2,16 @@
 <launch>
   <group>
     <include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
-      <arg name="input_map_points_topic" value="/map/pointcloud_map"/>
-      <arg name="input/pointcloud" value="/localization/util/downsample/pointcloud"/>
+      <arg name="input_pointcloud" value="/localization/util/downsample/pointcloud"/>
       <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/biased_pose_with_covariance"/>
+      <arg name="input_regularization_pose_topic" value="/sensing/gnss/pose_with_covariance"/>
+      <arg name="input_service_trigger_node" value="/localization/pose_estimator/trigger_node"/>
 
       <arg name="output_pose_topic" value="/localization/pose_estimator/pose"/>
       <arg name="output_pose_with_covariance_topic" value="/localization/pose_estimator/pose_with_covariance"/>
 
+      <arg name="client_map_loader" value="/map/get_differential_pointcloud_map"/>
+
       <arg name="param_file" value="$(var ndt_scan_matcher_param_path)"/>
     </include>
   </group>
diff --git a/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml b/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
index 891d172aaf8fd..cbcb0a9f74bc4 100644
--- a/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
+++ b/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
@@ -2,27 +2,27 @@
   <arg name="param_file" default="$(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml"/>
 
   <!-- Topics -->
-  <arg name="input/pointcloud" default="/points_raw" description="Sensor points topic"/>
-  <arg name="input_initial_pose_topic" default="/ekf_pose_with_covariance" description="Initial position topic to align"/>
-  <arg name="input_regularization_pose_topic" default="/sensing/gnss/pose_with_covariance" description="Regularization pose topic"/>
+  <arg name="input_pointcloud" default="points_raw" description="Sensor points topic"/>
+  <arg name="input_initial_pose_topic" default="ekf_pose_with_covariance" description="Initial position topic to align"/>
+  <arg name="input_regularization_pose_topic" default="regularization_pose_with_covariance" description="Regularization pose topic"/>
   <arg name="input_service_trigger_node" default="trigger_node" description="Trigger node service name"/>
 
   <arg name="output_pose_topic" default="ndt_pose" description="Estimated self position"/>
   <arg name="output_pose_with_covariance_topic" default="ndt_pose_with_covariance" description="Estimated self position with covariance"/>
 
-  <arg name="client_map_loader" default="/map/get_differential_pointcloud_map" description="Trigger node service name"/>
+  <arg name="client_map_loader" default="pcd_loader_service" description="Trigger node service name"/>
 
   <arg name="node_name" default="ndt_scan_matcher" description="Use a different name for this node"/>
 
   <node pkg="ndt_scan_matcher" exec="ndt_scan_matcher" name="$(var node_name)" output="log">
-    <remap from="points_raw" to="$(var input/pointcloud)"/>
-
+    <remap from="points_raw" to="$(var input_pointcloud)"/>
     <remap from="ekf_pose_with_covariance" to="$(var input_initial_pose_topic)"/>
+    <remap from="regularization_pose_with_covariance" to="$(var input_regularization_pose_topic)"/>
+    <remap from="trigger_node_srv" to="$(var input_service_trigger_node)"/>
 
     <remap from="ndt_pose" to="$(var output_pose_topic)"/>
     <remap from="ndt_pose_with_covariance" to="$(var output_pose_with_covariance_topic)"/>
-    <remap from="regularization_pose_with_covariance" to="$(var input_regularization_pose_topic)"/>
-    <remap from="trigger_node_srv" to="$(var input_service_trigger_node)"/>
+
     <remap from="pcd_loader_service" to="$(var client_map_loader)"/>
 
     <param from="$(var param_file)"/>