feat(tier4_localization_launch): change rectified pointcloud to outlier_filtered pointcloud

[miursh]

Signed-off-by: Shunsuke Miura [email protected]

Description

Change in use of pointcloud in lozaliation launch.
rectified pointcloud to outlier_filtered pointcloud

Related PR

autowarefoundation/sample_sensor_kit_launch#41

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[taikitanaka3]

LGTM
@miursh
same as autowarefoundation/sample_sensor_kit_launch#41 (comment)

[yukkysaito]

LGTM 👍
@miursh did you confirm to work tutorial?

[miursh]

@yukkysaito Yes, I have confirmed it works.

[codecov]

Codecov Report

Merging #1365 (125cf48) into main (9ab2d2f) will increase coverage by 0.00%.
The diff coverage is 0.00%.

❗ Current head 125cf48 differs from pull request most recent head a834562. Consider uploading reports for the commit a834562 to get more accurate results

@@          Coverage Diff          @@
##            main   #1365   +/-   ##
=====================================
  Coverage   9.64%   9.64%           
=====================================
  Files       1096    1096           
  Lines      77146   77118   -28     
  Branches   17719   17705   -14     
=====================================
- Hits        7441    7440    -1     
+ Misses     62464   62437   -27     
  Partials    7241    7241           

Flag	Coverage Δ		*Carryforward flag
differential	∅ <ø> (?)
total	9.63% <0.00%> (+<0.01%)	⬆️	Carriedforward from 03af16d

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ner/src/scene_module/crosswalk/scene_crosswalk.cpp	0.00% <0.00%> (ø)
planning/obstacle_stop_planner/src/node.cpp	0.00% <0.00%> (ø)
...planning_evaluator/src/planning_evaluator_node.cpp	37.11% <0.00%> (-1.04%)	⬇️
.../motion_velocity_smoother/src/trajectory_utils.cpp	0.00% <0.00%> (ø)
...ion/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp	0.00% <0.00%> (ø)
...n_velocity_smoother/src/smoother/smoother_base.cpp	0.00% <0.00%> (ø)
...based_prediction/src/map_based_prediction_node.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
... and 3 more

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[taikitanaka3]

@miursh
can you fix semantic pull request?

[amadeuszsz]

@taikitanaka3
Why did we removed input/pointcloud argument here? In my case (interfacing my own vehicle) it breaks arg pipeline:

1. tier4_localization_launch/launch/localization.launch.xml
2. tier4_localization_launch/launch/util/util.launch.xml
3. tier4_localization_launch/launch/util/util.launch.py

[taikitanaka3]

@amadeuszsz

In my case (interfacing my own vehicle) it breaks arg pipeline:

input/pointcloud is defined in tier4_localization.launch.xml here so can you tell me why it breaks your arg pipeline?

[taikitanaka3]

@miursh cc : @amadeuszsz
can you tell me why you removed this arg?