From 7fca74abffdefbca3a8af600bc7ea5adbd3f5a24 Mon Sep 17 00:00:00 2001
From: Maxime CLEMENT <maxime.clement@tier4.jp>
Date: Mon, 20 May 2024 09:01:40 +0900
Subject: [PATCH] fix(path_sampler): set correct topics for input detected
 objects

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
---
 .../lane_driving/motion_planning/motion_planning.launch.xml      | 1 +
 1 file changed, 1 insertion(+)

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
index d0c34ea01b2c6..63353459fa16c 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -90,6 +90,7 @@
           <!-- topic remap -->
           <remap from="~/input/path" to="path_smoother/path"/>
           <remap from="~/input/odometry" to="/localization/kinematic_state"/>
+          <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
           <remap from="~/output/path" to="path_optimizer/trajectory"/>
           <!-- params -->
           <param from="$(var common_param_path)"/>