feat(tier4_localization_launch): change rectified pointcloud to outli…

…er_filtered pointcloud (autowarefoundation#1365) Signed-off-by: Shunsuke Miura <[email protected]>
brkay54 · Jul 19, 2022 · 036b742 · 036b742
1 parent ff171c3
commit 036b742
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Showing 2 changed files with 1 addition and 6 deletions.
diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="input/pointcloud" default="/sensing/lidar/top/rectified/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
 
   <!-- localization module -->
   <group>

diff --git a/launch/tier4_localization_launch/launch/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py
@@ -114,11 +114,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container",
         "container name",
     )
-    add_launch_arg(
-        "input/pointcloud",
-        "/sensing/lidar/top/rectified/pointcloud",
-        "input topic name for raw pointcloud",
-    )
     add_launch_arg(
         "output/pointcloud",
         "downsample/pointcloud",