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Signed-off-by: Takamasa Horibe <[email protected]>
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4 changes: 2 additions & 2 deletions
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planning/planning_validator/launch/invalid_trajectory_publisher.launch.xml
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6 changes: 4 additions & 2 deletions
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planning/planning_validator/launch/planning_validator.launch.xml
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Original file line number | Diff line number | Diff line change |
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@@ -1,13 +1,15 @@ | ||
<launch> | ||
<arg name="planning_validator_param_path" default="$(find-pkg-share planning_validator)/config/planning_validator.param.yaml"/> | ||
<arg name="input_trajectory" default="/planning/scenario_planning/motion_velocity_smoother/trajectory"/> | ||
<arg name="output_trajectory" default="/planning/scenario_planning/trajectory"/> | ||
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<node name="planning_validator" exec="planning_validator_node" pkg="planning_validator" output="screen"> | ||
<!-- load config a file --> | ||
<param from="$(var planning_validator_param_path)"/> | ||
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<!-- remap topic name --> | ||
<remap from="~/input/trajectory" to="/planning/scenario_planning/trajectory"/> | ||
<remap from="~/input/trajectory" to="$(var input_trajectory)"/> | ||
<remap from="~/input/kinematics" to="/localization/kinematic_state"/> | ||
<remap from="~/output/trajectory" to="/planning/trajectory"/> | ||
<remap from="~/output/trajectory" to="$(var output_trajectory)"/> | ||
</node> | ||
</launch> |
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