[SS] updated glog component name with autoware prefix

subramanians1 · Dec 6, 2024 · 508c380 · 508c380
1 parent fe01da9
commit 508c380
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Showing 4 changed files with 5 additions and 4 deletions.
diff --git a/common_sensor_launch/launch/ouster_node_container.launch.py b/common_sensor_launch/launch/ouster_node_container.launch.py
@@ -66,7 +66,7 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="glog_component",
+            package="autoware_glog_component",
             plugin="GlogComponent",
             name="glog_component",
         )

diff --git a/prius_sensor_kit_description/config/sensor_kit_calibration.yaml b/prius_sensor_kit_description/config/sensor_kit_calibration.yaml
@@ -1,6 +1,6 @@
 sensor_kit_base_link:
-os1_top_base_link: # Lidar
-    x: 0.0
+  os1_top_base_link: # Lidar
+    x: 0.1
     y: 0.0
     z: 0.0
     roll: 0.0

diff --git a/prius_sensor_kit_description/package.xml b/prius_sensor_kit_description/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>velodyne_description</depend>
+  <depend>ouster_description</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/prius_sensor_kit_description/urdf/sensor_kit.xacro b/prius_sensor_kit_description/urdf/sensor_kit.xacro
@@ -25,7 +25,7 @@
     <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
 
     <!-- lidar -->    
-    <xacro:OS1-128 parent="sensor_kit_base_link" name="os1_top" topic="/points_raw" hz="10" samples="220">
+    <xacro:OS1-128 parent="sensor_kit_base_link" name="os1_top" topic_points="/points_raw" hz="10" samples="220">
       <origin
         xyz="${calibration['sensor_kit_base_link']['os1_top_base_link']['x']}
              ${calibration['sensor_kit_base_link']['os1_top_base_link']['y']}