Fixed to use arg

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Author: SakodaShintaro

localization/pose_initializer/launch/pose_initializer.launch.xml

@@ -7,6 +7,7 @@
   <arg name="stop_check_enabled"/>
 
   <arg name="sub_gnss_pose_cov" default="sub_gnss_pose_cov"/>
+  <arg name="fit_target" default="vector_map"/>
 
   <node pkg="pose_initializer" exec="pose_initializer_node" name="pose_initializer_node">
     <param from="$(var config_file)"/>
@@ -24,7 +25,7 @@
     <remap from="ekf_trigger_node" to="/localization/pose_twist_fusion_filter/trigger_node"/>
     <remap from="ndt_trigger_node" to="/localization/pose_estimator/trigger_node"/>
     <param name="map_loader_name" value="/map/pointcloud_map_loader"/>
-    <param name="fit_target" value="pointcloud_map"/>
+    <param name="fit_target" value="$(var fit_target)"/>
     <remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
     <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
     <remap from="~/vector_map" to="/map/vector_map"/>

system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml

@@ -1,10 +1,12 @@
 <launch>
+  <arg name="fit_target" default="vector_map"/>
+
   <group>
     <push-ros-namespace namespace="default_ad_api/helpers"/>
     <node pkg="ad_api_adaptors" exec="initial_pose_adaptor" name="initial_pose_adaptor">
       <param from="$(find-pkg-share ad_api_adaptors)/config/initial_pose.param.yaml"/>
       <param name="map_loader_name" value="/map/pointcloud_map_loader"/>
-      <param name="fit_target" value="pointcloud_map"/>
+      <param name="fit_target" value="$(var fit_target)"/>
       <remap from="~/initialpose" to="/initialpose"/>
       <remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
       <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>