fix(dummy_perception): fix to use launch at perception launch (#454)

* fix(dummy_perception): fix to use launch file in perception launch Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix(tier4_perception_launch): fix angle increment for occupancy grid Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
autowarefoundation · Mar 1, 2022 · fcfcced · fcfcced
1 parent e893117
commit fcfcced
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/occupancy_grid_map.launch.py b/launch/tier4_perception_launch/launch/occupancy_grid_map/occupancy_grid_map.launch.py
@@ -59,7 +59,7 @@ def add_launch_arg(name: str, default_value=None):
                     "max_height": 2.0,
                     "angle_min": -3.141592,  # -M_PI
                     "angle_max": 3.141592,  # M_PI
-                    "angle_increment": 0.00436332222,  # 0.25*M_PI/180.0
+                    "angle_increment": 0.00349065850,  # 0.20*M_PI/180.0
                     "scan_time": 0.0,
                     "range_min": 1.0,
                     "range_max": 200.0,

diff --git a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
@@ -55,7 +55,7 @@
     <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>
       <!-- Occupancy Grid -->
-      <include file="$(find-pkg-share laserscan_to_occupancy_grid_map)/launch/laserscan_to_occupancy_grid_map.launch.py">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/occupancy_grid_map.launch.py">
         <arg name="input_obstacle_pointcloud" value="true" />
         <arg name="input_obstacle_and_raw_pointcloud" value="false" />
         <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />