fix(ground_segmentation launch): fix topic name conflict in additional_lidars option (#6801)

badai-nguyen · web-flow · commit 453d41c2f750 · 2024-04-12T17:26:33.000+09:00
fix(ground_segmentation launch): fix topic name conflict when using additional lidars

Signed-off-by: badai-nguyen &lt;dai.nguyen@tier4.jp&gt;
diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -281,7 +281,7 @@ def create_single_frame_obstacle_segmentation_components(self, input_topic, outp
         use_additional = bool(additional_lidars)
         relay_topic = "all_lidars/pointcloud"
         common_pipeline_output = (
-            "single_frame/pointcloud" if use_additional or use_ransac else output_topic
+            "common/pointcloud" if use_additional or use_ransac else output_topic
         )
 
         components = self.create_common_pipeline(

Original file line number	Diff line number	Diff line change
`@@ -281,7 +281,7 @@ def create_single_frame_obstacle_segmentation_components(self, input_topic, outp`
`281`	`281`	`use_additional = bool(additional_lidars)`
`282`	`282`	`relay_topic = "all_lidars/pointcloud"`
`283`	`283`	`common_pipeline_output = (`
`284`		`- "single_frame/pointcloud" if use_additional or use_ransac else output_topic`
	`284`	`+ "common/pointcloud" if use_additional or use_ransac else output_topic`
`285`	`285`	`)`
`286`	`286`
`287`	`287`	`components = self.create_common_pipeline(`