fix lidar detection default topic name

Signed-off-by: taichiH <azumade.30@gmail.com>
autowarefoundation · Feb 25, 2022 · 38c1268 · 38c1268
1 parent 7f2b646
commit 38c1268
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/...n/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml b/...n/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
@@ -1,4 +1,5 @@
 <launch>
+  <arg name="input/pointcloud" default="/sensing/lidar/pointcloud"/>
   <arg name="model" default="model_128" />
   <arg name="output/objects" default="labeled_clusters" />
 
@@ -15,7 +16,7 @@
   <arg name="z_offset" default="-2" />
 
   <node pkg="lidar_apollo_instance_segmentation" exec="lidar_apollo_instance_segmentation_node" name="lidar_apollo_instance_segmentation" output="screen">
-    <remap from="input/pointcloud" to="/sensing/lidar/top/rectified/pointcloud"/>
+    <remap from="input/pointcloud" to="$(var input/pointcloud)"/>
     <remap from="output/labeled_clusters" to="$(var output/objects)"/>
     <param name="engine_file" value="$(var trained_engine_file)"/>
     <param name="prototxt_file" value="$(var trained_prototxt_file)"/>

diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-    <arg name="input/pointcloud" default="/sensing/lidar/top/rectified/pointcloud"/>
+    <arg name="input/pointcloud" default="/sensing/lidar/pointcloud"/>
     <arg name="output/objects" default="objects"/>
     <arg name="model_name" default="default" description="options: `default` or `aip_x2`"/>
     <arg name="model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>