autoware_autonomous_emergency_braking.launch.xml

<launch>
  <arg name="param_path" default="$(find-pkg-share autoware_autonomous_emergency_braking)/config/autonomous_emergency_braking.param.yaml"/>
  <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
  <arg name="input_velocity" default="/vehicle/status/velocity_status"/>
  <arg name="input_imu" default="/sensing/imu/imu_data"/>
  <arg name="input_predicted_trajectory" default="/control/trajectory_follower/lateral/predicted_trajectory"/>
  <arg name="input_objects" default="/perception/object_recognition/objects"/>

  <node pkg="autoware_autonomous_emergency_braking" exec="autoware_autonomous_emergency_braking" name="autonomous_emergency_braking" output="screen">
    <!-- load config files -->
    <param from="$(var param_path)"/>
    <!-- remap topic name -->
    <remap from="~/input/pointcloud" to="$(var input_pointcloud)"/>
    <remap from="~/input/velocity" to="$(var input_velocity)"/>
    <remap from="~/input/imu" to="$(var input_imu)"/>
    <remap from="~/input/odometry" to="$(var input_odometry)"/>
    <remap from="~/input/predicted_trajectory" to="$(var input_predicted_trajectory)"/>
    <remap from="~/input/objects" to="$(var input_objects)"/>
  </node>
</launch>