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fix(tier4_perception_launch): add input/pointcloud to ground-segmentation #1833

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merged 1 commit into from
Sep 11, 2022
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fix(tier4_perception_launch): add input/pointcloud to ground-segmentation #1833

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fix(tier4_perception_launch): add input/pointcloud to ground-segmenta… 
…tion

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>
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yukke42 committed Sep 11, 2022
commit 62eaf0d3686faeb876f5510e0317598387f5d8d1
3 changes: 2 additions & 1 deletion ...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -465,7 +465,7 @@ def launch_setup(context, *args, **kwargs):
components = []
components.extend(
pipeline.create_single_frame_obstacle_segmentation_components(
input_topic="/sensing/lidar/concatenated/pointcloud",
input_topic=LaunchConfiguration("input/pointcloud"),
output_topic=pipeline.single_frame_obstacle_seg_output,
)
)
Expand Down Expand Up @@ -521,6 +521,7 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("use_pointcloud_container", "False")
add_launch_arg("container_name", "perception_pipeline_container")
add_launch_arg("tier4_perception_launch_param_path", "tier4_perception_launch parameter path")
add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")

set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down