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...ware_autonomous_emergency_braking/launch/autoware_autonomous_emergency_braking.launch.xml
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| <launch> | ||
| <arg name="param_path" default="$(find-pkg-share autoware_autonomous_emergency_braking)/config/autonomous_emergency_braking.param.yaml"/> | ||
| <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/> | ||
| <arg name="input_velocity" default="/vehicle/status/velocity_status"/> | ||
| <arg name="input_imu" default="/sensing/imu/imu_data"/> | ||
| <arg name="input_predicted_trajectory" default="/control/trajectory_follower/lateral/predicted_trajectory"/> | ||
| <arg name="input_objects" default="/perception/object_recognition/objects"/> | ||
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| <arg name="param_path" default="$(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"/> | ||
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| <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="$(var input_objects)"/> | ||
| </node> | ||
| <node pkg="autoware_autonomous_emergency_braking" exec="autoware_autonomous_emergency_braking" name="autonomous_emergency_braking" output="screen"> | ||
| <!-- load config files --> | ||
| <param from="$(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> |
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