diff --git a/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml b/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml
index 3b7f113c43a94..494310c11a6a8 100644
--- a/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml
+++ b/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml
@@ -12,7 +12,7 @@
trans_epsilon: 0.01
# The newton line search maximum step length
- step_size: 0.1
+ step_size: 0.12345
# The ND voxel grid resolution
resolution: 2.0
diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
index 2883a21877888..be7a3f9b7c3b8 100644
--- a/launch/tier4_localization_launch/launch/localization.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -4,8 +4,6 @@
-
-
@@ -16,14 +14,12 @@
-
-
@@ -39,7 +35,6 @@
-
diff --git a/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
index 43cfc7403184d..f8485a81585e8 100644
--- a/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
@@ -3,7 +3,7 @@
-
+
diff --git a/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml
index 750adca4c2fa0..4367321383e51 100644
--- a/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml
@@ -1,6 +1,5 @@
-
@@ -10,7 +9,7 @@
-
+
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py
index 44186b9986618..71fd632964ad6 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.py
+++ b/launch/tier4_localization_launch/launch/util/util.launch.py
@@ -94,32 +94,24 @@ def add_launch_arg(name: str, default_value=None, description=None):
arg = DeclareLaunchArgument(name, default_value=default_value, description=description)
launch_arguments.append(arg)
- add_launch_arg(
- "tier4_localization_launch_param_path",
- [FindPackageShare("tier4_localization_launch"), "/config"],
- "tier4_localization_launch param path",
- )
add_launch_arg(
"crop_box_filter_measurement_range_param_path",
[
- LaunchConfiguration("tier4_localization_launch_param_path"),
- "/crop_box_filter_measurement_range.param.yaml",
+ LaunchConfiguration("localization_crop_box_filter_measurement_range_param_path"),
],
"path to the parameter file of crop_box_filter_measurement_range",
)
add_launch_arg(
"voxel_grid_downsample_filter_param_path",
[
- LaunchConfiguration("tier4_localization_launch_param_path"),
- "/voxel_grid_filter.param.yaml",
+ LaunchConfiguration("localization_voxel_grid_filter_param_path"),
],
"path to the parameter file of voxel_grid_downsample_filter",
)
add_launch_arg(
"random_downsample_filter_param_path",
[
- LaunchConfiguration("tier4_localization_launch_param_path"),
- "/random_downsample_filter.param.yaml",
+ LaunchConfiguration("localization_random_downsample_filter_param_path"),
],
"path to the parameter file of random_downsample_filter",
)
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.xml b/launch/tier4_localization_launch/launch/util/util.launch.xml
index 3070bc80bbc54..1dfe2e3d5f109 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.xml
+++ b/launch/tier4_localization_launch/launch/util/util.launch.xml
@@ -2,7 +2,6 @@
-
@@ -29,7 +28,6 @@
-