[ekf_localizer] [pose_initializer] fix topic message type (autowarefo…

…undation#176) Co-authored-by: Autoware <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>
kosuke55 · Dec 15, 2020 · 08f97ff · 08f97ff
1 parent 60f1486
commit 08f97ff
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp
@@ -102,24 +102,24 @@ EKFLocalizer::EKFLocalizer(const std::string & node_name, const rclcpp::NodeOpti
     "ekf_pose_without_yawbias", 1);
   pub_pose_cov_no_yawbias_ = create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(
     "ekf_pose_with_covariance_without_yawbias", 1);
-  sub_initialpose_ = create_subscription<geometry_msgs::msg::PoseStamped>(
+  sub_initialpose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
     "initialpose", 1, std::bind(
       &EKFLocalizer::callbackInitialPose, this,
       _1));
   sub_pose_with_cov_ =
-    create_subscription<geometry_msgs::msg::PoseStamped>(
+    create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
     "in_pose_with_covariance", 1,
     std::bind(&EKFLocalizer::callbackPoseWithCovariance, this, _1));
   sub_pose_ =
-    create_subscription<geometry_msgs::msg::TwistStamped>(
+    create_subscription<geometry_msgs::msg::PoseStamped>(
     "in_pose", 1,
     std::bind(&EKFLocalizer::callbackPose, this, _1));
   sub_twist_with_cov_ =
-    create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
+    create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>(
     "in_twist_with_covariance",
     1,
     std::bind(&EKFLocalizer::callbackTwistWithCovariance, this, _1));
-  sub_twist_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>(
+  sub_twist_ = create_subscription<geometry_msgs::msg::TwistStamped>(
     "in_twist", 1, std::bind(
       &EKFLocalizer::callbackTwist, this,
       _1));