From 2bb3f217e5af3cc34aa3f1a626bc612e01184174 Mon Sep 17 00:00:00 2001
From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Date: Thu, 25 Nov 2021 16:59:11 +0900
Subject: [PATCH] Fix no ground pointcloud topic name (#134)

Signed-off-by: j4tfwm6z <proj-jpntaxi@tier4.jp>

Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp>
---
 .../behavior_planning/behavior_planning.launch.py      |  5 ++++-
 .../motion_planning/motion_planning.launch.py          | 10 ++++++++--
 .../motion_planning/motion_planning.launch.xml         |  2 +-
 .../launch/scenario_planning/parking.launch.py         |  5 ++++-
 .../launch/scenario_planning/parking.launch.xml        |  2 +-
 5 files changed, 18 insertions(+), 6 deletions(-)

diff --git a/launch/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/launch/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
index 1e56ec6beb06b..ce39509db4213 100644
--- a/launch/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
+++ b/launch/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -261,7 +261,10 @@ def generate_launch_description():
             ("~/input/vector_map", "/map/vector_map"),
             ("~/input/vehicle_odometry", "/localization/kinematic_state"),
             ("~/input/dynamic_objects", "/perception/object_recognition/objects"),
-            ("~/input/no_ground_pointcloud", "/sensing/lidar/no_ground/pointcloud"),
+            (
+                "~/input/no_ground_pointcloud",
+                "/perception/object_segmentation/pointcloud",
+            ),
             (
                 "~/input/traffic_signals",
                 "/perception/traffic_light_recognition/traffic_signals",
diff --git a/launch/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index 4c06a7b8c08ba..0fa0c4debfe62 100644
--- a/launch/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/launch/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -90,7 +90,10 @@ def generate_launch_description():
             ("~/output/no_start_reason", "/planning/scenario_planning/status/no_start_reason"),
             ("~/output/stop_reasons", "/planning/scenario_planning/status/stop_reasons"),
             ("~/output/trajectory", "surround_obstacle_checker/trajectory"),
-            ("~/input/pointcloud", "/sensing/lidar/no_ground/pointcloud"),
+            (
+                "~/input/pointcloud",
+                "/perception/object_segmentation/pointcloud",
+            ),
             ("~/input/objects", "/perception/object_recognition/objects"),
             ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"),
@@ -154,7 +157,10 @@ def generate_launch_description():
                 "/planning/scenario_planning/clear_velocity_limit",
             ),
             ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
-            ("~/input/pointcloud", "/sensing/lidar/no_ground/pointcloud"),
+            (
+                "~/input/pointcloud",
+                "/perception/object_segmentation/pointcloud",
+            ),
             ("~/input/objects", "/perception/object_recognition/objects"),
             ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/trajectory", "surround_obstacle_checker/trajectory"),
diff --git a/launch/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
index 4e0ee98c72771..6ede637e48d02 100644
--- a/launch/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
+++ b/launch/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -43,7 +43,7 @@
       <arg name="enable_slow_down" value="false" />
       <!-- remap topic name -->
       <arg name="input_trajectory" value="surround_obstacle_checker/trajectory" />
-      <arg name="input_pointcloud" value="/sensing/lidar/no_ground/pointcloud" />
+      <arg name="input_pointcloud" value="/perception/object_segmentation/pointcloud" />
       <arg name="output_trajectory" value="/planning/scenario_planning/lane_driving/trajectory" />
     </include>
   </group>
diff --git a/launch/planning_launch/launch/scenario_planning/parking.launch.py b/launch/planning_launch/launch/scenario_planning/parking.launch.py
index fef7775518980..c501190363fbd 100644
--- a/launch/planning_launch/launch/scenario_planning/parking.launch.py
+++ b/launch/planning_launch/launch/scenario_planning/parking.launch.py
@@ -52,7 +52,10 @@ def generate_launch_description():
                 name="costmap_generator",
                 remappings=[
                     ("~/input/objects", "/perception/object_recognition/objects"),
-                    ("~/input/points_no_ground", "/sensing/lidar/no_ground/pointcloud"),
+                    (
+                        "~/input/points_no_ground",
+                        "/perception/object_segmentation/pointcloud",
+                    ),
                     ("~/input/vector_map", "/map/vector_map"),
                     ("~/input/scenario", "/planning/scenario_planning/scenario"),
                     ("~/output/grid_map", "costmap_generator/grid_map"),
diff --git a/launch/planning_launch/launch/scenario_planning/parking.launch.xml b/launch/planning_launch/launch/scenario_planning/parking.launch.xml
index 2465dac51f114..6add04ef8e1db 100644
--- a/launch/planning_launch/launch/scenario_planning/parking.launch.xml
+++ b/launch/planning_launch/launch/scenario_planning/parking.launch.xml
@@ -4,7 +4,7 @@
     <push-ros-namespace namespace="parking"/>
     <include file="$(find-pkg-share costmap_generator)/launch/costmap_generator.launch.xml">
       <arg name="input_objects" value="/perception/object_recognition/objects"/>
-      <arg name="input_points_no_ground" value="/sensing/lidar/no_ground/pointcloud"/>
+      <arg name="input_points_no_ground" value="/perception/object_segmentation/pointcloud"/>
       <arg name="input_lanelet_map" value="/map/vector_map"/>
       <arg name="input_scenario" value="/planning/scenario_planning/scenario"/>
       <arg name="output_grid_map" value="costmap_generator/grid_map"/>