feat(x2_gen1_nebula): fixed topic and container names of pointcloud s…

…ubscribed by localization module (#693) * fix topic name for localization_component Signed-off-by: kotaro-hihara <[email protected]> * fix localization pointcloud container name --------- Signed-off-by: kotaro-hihara <[email protected]> Co-authored-by: Shohei Sakai <[email protected]>
tier4 · Jul 9, 2024 · 403355d · 403355d
1 parent 36b01d7
commit 403355d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -3,10 +3,10 @@
   <let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
   <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
   <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
-  <arg name="input_pointcloud" default="/sensing/lidar/left_upper/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg name="input_pointcloud" default="/sensing/lidar/left_upper/pointcloud_before_sync" description="The topic will be used in the localization util module"/>
   <arg
     name="localization_pointcloud_container_name"
-    default="/sensing/lidar/left_upper/pointcloud_preprocessor/pandar_node_container"
+    default="/sensing/lidar/left_upper/pointcloud_container"
     description="The target container to which pointcloud preprocessing nodes in localization be attached"
   />
   <arg name="initial_pose" default="[]" description="initial pose (x, y, z, quat_x, quat_y, quat_z, quat_w)"/>