diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index d37cf4dc6..e8d661bfc 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -50,7 +50,8 @@
-
+
+
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index dedb34b3e..9704254fb 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -76,7 +76,8 @@
-
+
+
diff --git a/localization_launch/launch/localization.launch.xml b/localization_launch/launch/localization.launch.xml
index 79851cf32..3deae2b0e 100644
--- a/localization_launch/launch/localization.launch.xml
+++ b/localization_launch/launch/localization.launch.xml
@@ -1,6 +1,5 @@
-
@@ -8,7 +7,6 @@
-
diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py
index 01d1e061e..abcd824b7 100644
--- a/localization_launch/launch/util/util.launch.py
+++ b/localization_launch/launch/util/util.launch.py
@@ -34,7 +34,7 @@ def load_composable_node_param(param_path):
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_measurement_range",
remappings=[
- ("input", LaunchConfiguration("input/pointcloud")),
+ ("input", LaunchConfiguration("input_sensor_points_topic")),
("output", LaunchConfiguration("output_measurement_range_sensor_points_topic")),
],
parameters=[
@@ -111,6 +111,11 @@ 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_sensor_points_topic",
+ "/sensing/lidar/top/rectified/pointcloud",
+ "input topic name for raw pointcloud",
+ )
add_launch_arg(
"output_measurement_range_sensor_points_topic",
"measurement_range/pointcloud",
diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml
index 108760f20..6d2cc2954 100644
--- a/localization_launch/launch/util/util.launch.xml
+++ b/localization_launch/launch/util/util.launch.xml
@@ -2,13 +2,13 @@
-
+
-
+
diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 72a2af062..917fd52f3 100644
--- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -1,6 +1,5 @@
-
@@ -111,7 +110,6 @@
-
@@ -120,9 +118,7 @@
-
-
-
+
diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
index 0fc359043..2ef5c8dab 100644
--- a/perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -1,7 +1,6 @@
-
@@ -27,7 +26,6 @@
-
@@ -52,7 +50,6 @@
-
diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 9e1e47bd8..010d7f419 100644
--- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -1,8 +1,8 @@
-
+
@@ -37,9 +37,7 @@
-
-
-
+
@@ -47,9 +45,7 @@
-
-
-
+
diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
index 28d9aebab..cc09ba3a5 100644
--- a/perception_launch/launch/perception.launch.xml
+++ b/perception_launch/launch/perception.launch.xml
@@ -3,7 +3,6 @@
-
@@ -65,7 +64,6 @@
-