Merge pull request #541 from tier4/sync-awf-latest

chore: sync awf-latest

localization_launch/config/ndt_scan_matcher.param.yaml

@@ -6,10 +6,6 @@
     # Subscriber queue size
     input_sensor_points_queue_size: 1
 
-    # NDT implementation type
-    # 0=PCL_GENERIC, 1=PCL_MODIFIED, 2=OMP
-    ndt_implement_type: 2
-
     # The maximum difference between two consecutive
     # transformations in order to consider convergence
     trans_epsilon: 0.01
@@ -25,7 +21,6 @@
 
     # Converged param type
     # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD
-    # NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD is only available when NDTImplementType::OMP is selected
     converged_param_type: 1
 
     # If converged_param_type is 0
@@ -45,12 +40,12 @@
     # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
     initial_pose_distance_tolerance_m: 10.0
 
-    # neighborhood search method in OMP
+    # neighborhood search method
     # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
-    omp_neighborhood_search_method: 0
+    neighborhood_search_method: 0
 
     # Number of threads used for parallel computing
-    omp_num_threads: 4
+    num_threads: 4
 
     # The covariance of output pose
     output_pose_covariance:

planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py

@@ -467,7 +467,7 @@ def generate_launch_description():
     load_vector_map_inside_area_filter = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [
-                FindPackageShare("tier4_planning_launch"),
+                FindPackageShare("planning_launch"),
                 "/launch/scenario_planning/lane_driving/behavior_planning/vector_map_inside_area_filter.launch.py",
             ]
         ),