From 403355dbc92a5f9da7b051f6fa20c8e2a06299fc Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Tue, 9 Jul 2024 11:44:47 +0900
Subject: [PATCH] feat(x2_gen1_nebula): fixed topic and container names of
 pointcloud subscribed by localization module (#693)

* fix topic name for localization_component

Signed-off-by: kotaro-hihara <kotaro.hihara@tier4.jp>

* fix localization pointcloud container name

---------

Signed-off-by: kotaro-hihara <kotaro.hihara@tier4.jp>
Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
---
 .../launch/components/tier4_localization_component.launch.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index c421fb9ae1..b6e7a6fb61 100644
--- 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)"/>