fix(localization_launch): rename biased pose topics (#469)

fix(localization_launch): rename biased yaw topics
tier4 · Sep 6, 2022 · ef611e0 · ef611e0
1 parent dcea545
commit ef611e0
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
@@ -4,7 +4,7 @@
   <include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
     <arg name="input_map_points_topic" value="/map/pointcloud_map"/>
     <arg name="input/pointcloud" value="/localization/util/downsample/pointcloud"/>
-    <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias"/>
+    <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/biased_pose_with_covariance"/>
 
 
     <arg name="output_pose_topic" value="/localization/pose_estimator/pose"/>

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
@@ -11,8 +11,8 @@
     <arg name="output_odom_name" value="kinematic_state"/>
     <arg name="output_pose_name" value="pose"/>
     <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_biased_pose_name" value="biased_pose"/>
+    <arg name="output_biased_pose_with_covariance_name" value="biased_pose_with_covariance"/>
     <arg name="output_twist_name" value="twist"/>
     <arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>