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refactor(ndt_scan_matcher): fixed ndt_scan_matcher.launch.xml #6041

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Jan 10, 2024
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refactor(ndt_scan_matcher): fixed ndt_scan_matcher.launch.xml #6041

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7 changes: 5 additions & 2 deletions launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
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Expand Up @@ -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="$(var ndt_scan_matcher_param_path)"/>
</include>
</group>
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16 changes: 8 additions & 8 deletions localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
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Expand Up @@ -2,27 +2,27 @@
<arg name="param_file" default="$(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)"/>
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