added stop filter launch in localization_launch (autowarefoundation#270)

TomohitoAndo · Sep 2, 2021 · 4214390 · 4214390
1 parent c2204fd
commit 4214390
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
@@ -15,12 +15,19 @@
     <arg name="output_pose_with_covariance_name" value="/localization/pose_with_covariance"/>
     <arg name="output_pose_without_yawbias_name" value="pose_without_yawbias"/>
     <arg name="output_pose_with_covariance_without_yawbias_name" value="pose_with_covariance_without_yawbias"/>
-    <arg name="output_twist_name" value="/localization/twist"/>
+    <arg name="output_twist_name" value="twist"/>
     <arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
 
     <arg name="twist_stddev_wz" value="0.003 "/>
 
     <arg name="proc_stddev_vx_c" value="10.0"/>
     <arg name="proc_stddev_wz_c" value="5.0"/>
   </include>
+  <include file="$(find-pkg-share stop_filter)/launch/stop_filter.launch.xml">
+    <arg name="use_twist_with_covariance" value="True"/>
+    <arg name="input_twist_name" value="/localization/pose_twist_fusion_filter/twist"/>
+    <arg name="input_twist_with_covariance_name" value="/localization/pose_twist_fusion_filter/twist_with_covariance"/>
+    <arg name="output_twist_name" value="/localization/twist"/>
+    <arg name="output_twist_with_covariance_name" value="/localization/twist_with_covariance"/>
+  </include>
 </launch>