From 2c611853568069ba602f18773c80c4c0b7cd52fe Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 8 Jul 2022 17:11:49 +0900 Subject: [PATCH] remap topic name in lanuch Signed-off-by: Takamasa Horibe --- launch/tier4_control_launch/launch/control.launch.py | 1 + .../lane_driving/behavior_planning/behavior_planning.launch.py | 1 + .../lane_driving/motion_planning/motion_planning.launch.py | 2 ++ 3 files changed, 4 insertions(+) diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index 4d568a7aab762..e7e19571a8515 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -65,6 +65,7 @@ def launch_setup(context, *args, **kwargs): ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"), ("~/input/current_odometry", "/localization/kinematic_state"), ("~/input/current_steering", "/vehicle/status/steering_status"), + ("~/input/current_accel", "/localization/acceleration"), ("~/output/predicted_trajectory", "lateral/predicted_trajectory"), ("~/output/lateral_diagnostic", "lateral/diagnostic"), ("~/output/slope_angle", "longitudinal/slope_angle"), diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 8b917ccbc2f3e..5a17711a28307 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -366,6 +366,7 @@ def launch_setup(context, *args, **kwargs): ("~/input/path_with_lane_id", "path_with_lane_id"), ("~/input/vector_map", "/map/vector_map"), ("~/input/vehicle_odometry", "/localization/kinematic_state"), + ("~/input/acceleration", "/localization/acceleration"), ("~/input/dynamic_objects", "/perception/object_recognition/objects"), ( "~/input/no_ground_pointcloud", diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 0aad10cb6812c..bd26e13ad97b5 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -155,6 +155,7 @@ def launch_setup(context, *args, **kwargs): "/planning/scenario_planning/clear_velocity_limit", ), ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"), + ("~/input/acceleration", "/localization/acceleration"), ( "~/input/pointcloud", "/perception/obstacle_segmentation/pointcloud", @@ -193,6 +194,7 @@ def launch_setup(context, *args, **kwargs): remappings=[ ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"), ("~/input/odometry", "/localization/kinematic_state"), + ("~/input/acceleration", "/localization/acceleration"), ("~/input/objects", "/perception/object_recognition/objects"), ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"), ("~/output/velocity_limit", "/planning/scenario_planning/max_velocity_candidates"),