From 508c380d9f018fd503fe2261d4032cf68df6efd5 Mon Sep 17 00:00:00 2001
From: subramanians1 <s.subramanian1@tue.nl>
Date: Thu, 5 Dec 2024 19:21:33 +0100
Subject: [PATCH] [SS] updated glog component name with autoware prefix

---
 common_sensor_launch/launch/ouster_node_container.launch.py   | 2 +-
 .../config/sensor_kit_calibration.yaml                        | 4 ++--
 prius_sensor_kit_description/package.xml                      | 1 +
 prius_sensor_kit_description/urdf/sensor_kit.xacro            | 2 +-
 4 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/common_sensor_launch/launch/ouster_node_container.launch.py b/common_sensor_launch/launch/ouster_node_container.launch.py
index 925d6f1e..3673b7f3 100644
--- 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
index 4e44eb12..6a3d0043 100644
--- 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
index 5f962796..df2c8fc7 100644
--- 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
index 367c94c8..2e99ac56 100644
--- 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']}