Commit e6df544 1 parent 0ed18a4 commit e6df544 Copy full SHA for e6df544
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launch/tier4_localization_launch/launch
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<arg name =" twist_source" />
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<arg name =" system_run_mode" />
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+ <!-- parameter paths for ndt -->
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+ <arg name =" ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path" />
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+ <arg name =" ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path" />
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+ <arg name =" ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path" />
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+ <arg name =" ndt_scan_matcher/ndt_scan_matcher_param_path" />
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+
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<!-- Parameter files -->
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- <arg name =" crop_box_filter_measurement_range_param_path" />
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- <arg name =" voxel_grid_downsample_filter_param_path" />
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- <arg name =" random_downsample_filter_param_path" />
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- <arg name =" ndt_scan_matcher_param_path" />
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<arg name =" localization_error_monitor_param_path" />
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<arg name =" ekf_localizer_param_path" />
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<arg name =" pose_initializer_param_path" />
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<arg name =" client_map_loader" value =" /map/get_differential_pointcloud_map" />
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- <arg name =" param_file" value =" $(var ndt_scan_matcher_param_path)" />
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+ <arg name =" param_file" value =" $(var ndt_scan_matcher/ ndt_scan_matcher_param_path)" />
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</include >
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</group >
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</launch >
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<load_composable_node target =" $(var lidar_container_name)" >
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<composable_node pkg =" pointcloud_preprocessor" plugin =" pointcloud_preprocessor::CropBoxFilterComponent" name =" crop_box_filter_measurement_range" >
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- <param from =" $(var crop_box_filter_measurement_range_param_path)" />
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+ <param from =" $(var ndt_scan_matcher/pointcloud_preprocessor/ crop_box_filter_measurement_range_param_path)" />
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<remap from =" input" to =" $(var input_pointcloud)" />
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<remap from =" output" to =" measurement_range/pointcloud" />
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<extra_arg name =" use_intra_process_comms" value =" $(var use_intra_process)" />
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</composable_node >
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<composable_node pkg =" pointcloud_preprocessor" plugin =" pointcloud_preprocessor::VoxelGridDownsampleFilterComponent" name =" voxel_grid_downsample_filter" >
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- <param from =" $(var voxel_grid_downsample_filter_param_path)" />
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+ <param from =" $(var ndt_scan_matcher/pointcloud_preprocessor/ voxel_grid_downsample_filter_param_path)" />
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<remap from =" input" to =" measurement_range/pointcloud" />
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<remap from =" output" to =" voxel_grid_downsample/pointcloud" />
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<extra_arg name =" use_intra_process_comms" value =" $(var use_intra_process)" />
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</composable_node >
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<composable_node pkg =" pointcloud_preprocessor" plugin =" pointcloud_preprocessor::RandomDownsampleFilterComponent" name =" random_downsample_filter" >
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- <param from =" $(var random_downsample_filter_param_path)" />
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+ <param from =" $(var ndt_scan_matcher/pointcloud_preprocessor/ random_downsample_filter_param_path)" />
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<remap from =" input" to =" voxel_grid_downsample/pointcloud" />
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<remap from =" output" to =" $(var output/pointcloud)" />
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<extra_arg name =" use_intra_process_comms" value =" $(var use_intra_process)" />
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