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autoware-changes.md

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Required Changes in Autoware

The following changes in Autoware are required in order to work with CARLA and the CARLA-Autoware-Bridge.

autoware_launch package

Change the path to the sensor model configuration directory in autoware.launch.xml to

<arg name="config_dir" value="$(find-pkg-share carla_t2_sensor_kit_description)/config/"/>

Change LiDAR input topic and LiDAR container in tier4_localization_component.launch.xml to

# input_pointcloud
<arg name="input_pointcloud" default="/sensor/lidar/front" description="The topic will be used in the localization util module"/>
# container name
<arg
    name="lidar_container_name"
    default="/sensing/lidar/front/pointcloud_preprocessor/pointcloud_container"
    description="The target container to which lidar preprocessing nodes in localization be attached"
  />