predicted_path_checker.launch.xml

<launch>
  <arg name="input/objects" default="/perception/object_recognition/objects"/>
  <arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory"/>
  <arg name="input/predicted_trajectory" default="/control/trajectory_follower/lateral/predicted_trajectory"/>
  <arg name="input/odometry" default="/localization/kinematic_state"/>
  <arg name="input/current_accel" default="/localization/acceleration"/>

  <arg name="config_file" default="$(find-pkg-share autoware_predicted_path_checker)/config/predicted_path_checker.param.yaml"/>
  <!-- vehicle info -->
  <arg name="vehicle_info_param_file" default="$(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml"/>

  <node pkg="autoware_predicted_path_checker" exec="autoware_predicted_path_checker_node" name="predicted_path_checker_node" output="screen">
    <param from="$(var config_file)"/>
    <param from="$(var vehicle_info_param_file)"/>
    <remap from="~/input/objects" to="$(var input/objects)"/>
    <remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)"/>
    <remap from="~/input/predicted_trajectory" to="$(var input/predicted_trajectory)"/>
    <remap from="~/input/odometry" to="$(var input/odometry)"/>
    <remap from="~/input/current_accel" to="$(var input/current_accel)"/>
  </node>
</launch>