Fixed arg name

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

Author: SakodaShintaro

localization/pose_initializer/launch/pose_initializer.launch.xml

@@ -7,7 +7,7 @@
   <arg name="stop_check_enabled"/>
 
   <arg name="sub_gnss_pose_cov" default="sub_gnss_pose_cov"/>
-  <arg name="fit_target" default="pointcloud_map"/>
+  <arg name="gnss_initial_pose_auto_fix_target" default="pointcloud_map"/>
 
   <node pkg="pose_initializer" exec="pose_initializer_node" name="pose_initializer_node">
     <param from="$(var config_file)" allow_substs="true"/>
@@ -18,8 +18,8 @@
     <remap from="pose_reset" to="/initialpose3d"/>
     <remap from="ekf_trigger_node" to="/localization/pose_twist_fusion_filter/trigger_node"/>
     <remap from="ndt_trigger_node" to="/localization/pose_estimator/trigger_node"/>
-    <param name="map_loader_name" value="/map/pointcloud_map_loader"/>
-    <param name="fit_target" value="$(var fit_target)"/>
+    <param name="map_height_fitter.map_loader_name" value="/map/pointcloud_map_loader"/>
+    <param name="map_height_fitter.target" value="$(var gnss_initial_pose_auto_fix_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"/>

map/map_height_fitter/config/map_height_fitter.param.yaml

@@ -1,4 +1,5 @@
 /**:
   ros__parameters:
-    map_loader_name: "/map/pointcloud_map_loader"
-    fit_target: "pointcloud_map"
+    map_height_fitter:
+      map_loader_name: "/map/pointcloud_map_loader"
+      fit_target: "pointcloud

map/map_height_fitter/schema/map_height_fitter.schema.json

@@ -6,12 +6,12 @@
     "map_height_fitter": {
       "type": "object",
       "properties": {
-        "map_loader_name": {
+        "map_height_fitter.map_loader_name": {
           "type": "string",
           "description": "Node name of the map loader from which this map_height_fitter will retrieve its parameters",
           "default": "/map/pointcloud_map_loader"
         },
-        "fit_target": {
+        "map_height_fitter.target": {
           "type": "string",
           "description": "Target map to fit (choose from 'pointcloud_map', 'vector_map')",
           "default": "pointcloud_map"

map/map_height_fitter/src/map_height_fitter.cpp

@@ -64,7 +64,7 @@ struct MapHeightFitter::Impl
 
 MapHeightFitter::Impl::Impl(rclcpp::Node * node) : tf2_listener_(tf2_buffer_), node_(node)
 {
-  fit_target_ = node->declare_parameter<std::string>("fit_target");
+  fit_target_ = node->declare_parameter<std::string>("map_height_fitter.target");
   if (fit_target_ == "pointcloud_map") {
     const auto callback =
       [this](const std::shared_future<std::vector<rclcpp::Parameter>> & future) {
@@ -87,7 +87,8 @@ MapHeightFitter::Impl::Impl(rclcpp::Node * node) : tf2_listener_(tf2_buffer_), n
         }
       };
 
-    const auto map_loader_name = node->declare_parameter<std::string>("map_loader_name");
+    const auto map_loader_name =
+      node->declare_parameter<std::string>("map_height_fitter.map_loader_name");
     params_pcd_map_loader_ = rclcpp::AsyncParametersClient::make_shared(node, map_loader_name);
     params_pcd_map_loader_->wait_for_service();
     params_pcd_map_loader_->get_parameters({enable_partial_load}, callback);

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

@@ -1,12 +1,12 @@
 <launch>
-  <arg name="fit_target" default="pointcloud_map"/>
+  <arg name="rviz_initial_pose_auto_fix_target" default="pointcloud_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="$(find-pkg-share ad_api_adaptors)/config/initial_pose.param.yaml"/>
-      <param name="map_loader_name" value="/map/pointcloud_map_loader"/>
-      <param name="fit_target" value="$(var fit_target)"/>
+      <param name="map_height_fitter.map_loader_name" value="/map/pointcloud_map_loader"/>
+      <param name="map_height_fitter.target" value="$(var rviz_initial_pose_auto_fix_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"/>