does not estimate twist (autowarefoundation#51)

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
KYabuuchi · Jun 6, 2023 · 46947c2 · 46947c2
1 parent af21760
commit 46947c2
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/localization/yabloc/yabloc_launch/config/default.rviz b/localization/yabloc/yabloc_launch/config/default.rviz
@@ -265,7 +265,7 @@ Visualization Manager:
           Left: 800
           Name: Twist/KalmanStatus
           Top: 0
-          Topic: /localization/yabloc/twist/kalman/status
+          Topic: /localization/yabloc/twist/status
           Value: true
           Width: 400
         - Background Alpha: 0

diff --git a/localization/yabloc/yabloc_launch/launch/yabloc.launch.xml b/localization/yabloc/yabloc_launch/launch/yabloc.launch.xml
@@ -10,6 +10,8 @@
     <!-- conditional branch for autoware integration -->
     <let name="connect_base_link_to_particle_pose" value="true" if="$(var standalone)"/>
     <let name="connect_base_link_to_particle_pose" value="false" unless="$(var standalone)"/>
+    <let name="estimate_twist_in_yabloc" value="true" if="$(var standalone)"/>
+    <let name="estimate_twist_in_yabloc" value="false" unless="$(var standalone)"/>
     <let name="input_pose" value="/localization/yabloc/pf/pose" if="$(var standalone)"/>
     <let name="input_pose" value="/localization/pose_twist_fusion_filter/pose" unless="$(var standalone)"/>
 
@@ -73,7 +75,7 @@
         </group>
 
         <!-- twist -->
-        <group>
+        <group if="$(var estimate_twist_in_yabloc)">
             <push-ros-namespace namespace="twist"/>
             <include file="$(find-pkg-share yabloc_launch)/launch/impl/twist.launch.xml"/>
         </group>