feat(tier4_perception_launch): fix typo error (#6999)

* feat: downsample perception input pointcloud Signed-off-by: yoshiri <[email protected]> * fix: add group if to switch downsample node Signed-off-by: yoshiri <[email protected]> * fix: add test and exec depend Signed-off-by: yoshiri <[email protected]> * Update launch/tier4_perception_launch/launch/perception.launch.xml Co-authored-by: Yukihiro Saito <[email protected]> * chore: refactor perception.launch.xml Signed-off-by: yoshiri <[email protected]> * fix: fix name Signed-off-by: yoshiri <[email protected]> --------- Signed-off-by: yoshiri <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]>
autowarefoundation · May 14, 2024 · a3c1ed3 · a3c1ed3
1 parent b6bd750
commit a3c1ed3
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -132,9 +132,9 @@
     <push-ros-namespace namespace="perception"/>
     <!-- Perception common preprocess -->
     <let name="downsampled_pointcloud" value="/perception/common/pointcloud"/>
-    <let name="perception_pointcloud" value="$(var input/pointcloud)" unless="$(var downsample_input_pointcloud)"/>
-    <let name="perception_pointcloud" value="$(var downsampled_pointcloud)" if="$(var downsample_input_pointcloud)"/>
-    <group if="$(var downsample_input_pointcloud)">
+    <let name="perception_pointcloud" value="$(var input/pointcloud)" unless="$(var downsample_perception_common_pointcloud)"/>
+    <let name="perception_pointcloud" value="$(var downsampled_pointcloud)" if="$(var downsample_perception_common_pointcloud)"/>
+    <group if="$(var downsample_perception_common_pointcloud)">
       <push-ros-namespace namespace="common"/>
       <load_composable_node target="$(var pointcloud_container_name)">
         <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent" name="pointcloud_downsample_node" namespace="">