feat(lidar_detection): changing default input topic name of lidar det…

…ection nodes (#433)

localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml

@@ -2,7 +2,7 @@
   <arg name="param_file" default="$(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml" />
 
   <!-- Topics -->
-  <arg name="input_sensor_points_topic" default="/points_raw" description="Sensor points topic" />
+  <arg name="input/pointcloud" default="/points_raw" description="Sensor points topic" />
   <arg name="input_initial_pose_topic" default="/ekf_pose_with_covariance" description="Initial position topic to align" />
   <arg name="input_map_points_topic" default="/pointcloud_map" description="Map points topic" />
 
@@ -13,7 +13,7 @@
   <arg name="node_name" default="ndt_scan_matcher" description="Use a different name for this node" />
 
   <node pkg="ndt_scan_matcher" exec="ndt_scan_matcher" name="$(var node_name)" output="log">
-    <remap from="points_raw" to="$(var input_sensor_points_topic)" />
+    <remap from="points_raw" to="$(var input/pointcloud)" />
 
     <remap from="ekf_pose_with_covariance" to="$(var input_initial_pose_topic)" />
     <remap from="pointcloud_map" to="$(var input_map_points_topic)" />

perception/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml

@@ -1,4 +1,5 @@
 <launch>
+  <arg name="input/pointcloud" default="/sensing/lidar/pointcloud"/>
   <arg name="model" default="model_128" />
   <arg name="output/objects" default="labeled_clusters" />
 
@@ -15,7 +16,7 @@
   <arg name="z_offset" default="-2" />
 
   <node pkg="lidar_apollo_instance_segmentation" exec="lidar_apollo_instance_segmentation_node" name="lidar_apollo_instance_segmentation" output="screen">
-    <remap from="input/pointcloud" to="/sensing/lidar/top/rectified/pointcloud"/>
+    <remap from="input/pointcloud" to="$(var input/pointcloud)"/>
     <remap from="output/labeled_clusters" to="$(var output/objects)"/>
     <param name="engine_file" value="$(var trained_engine_file)"/>
     <param name="prototxt_file" value="$(var trained_prototxt_file)"/>

perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-    <arg name="input/pointcloud" default="/sensing/lidar/top/rectified/pointcloud"/>
+    <arg name="input/pointcloud" default="/sensing/lidar/pointcloud"/>
     <arg name="output/objects" default="objects"/>
     <arg name="model_name" default="default" description="options: `default` or `aip_x2`"/>
     <arg name="model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>