Fix aip_xx1's pointcloud_preprocessor.launch.py (autowarefoundation#72)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
1222-takeshi · Dec 10, 2021 · d27e60b · d27e60b
1 parent a127b4b
commit d27e60b
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/launch/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py b/launch/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py
@@ -61,7 +61,7 @@ def launch_setup(context, *args, **kwargs):
             'input_topics': ['/sensing/lidar/top/outlier_filtered/pointcloud',
                             '/sensing/lidar/left/outlier_filtered/pointcloud',
                             '/sensing/lidar/right/outlier_filtered/pointcloud'],
-            'output_frame': 'base_link',
+            'output_frame': LaunchConfiguration('base_frame'),
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
@@ -75,7 +75,7 @@ def launch_setup(context, *args, **kwargs):
             ('output', 'concatenated/pointcloud'),
         ],
         parameters=[{
-            'output_frame': 'base_link',
+            'output_frame': LaunchConfiguration('base_frame'),
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),