From 036b74220e33f9fee4ff4f949cf8d564778f1ea0 Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Date: Tue, 19 Jul 2022 21:10:08 +0900
Subject: [PATCH] feat(tier4_localization_launch): change rectified pointcloud
 to outlier_filtered pointcloud (#1365)

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
---
 .../tier4_localization_launch/launch/localization.launch.xml | 2 +-
 launch/tier4_localization_launch/launch/util/util.launch.py  | 5 -----
 2 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
index e1ebef8f9b170..1648024bc3993 100644
--- a/launch/tier4_localization_launch/launch/localization.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="input/pointcloud" default="/sensing/lidar/top/rectified/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
 
   <!-- localization module -->
   <group>
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py
index 6707d946f2c8a..a3865a8c1b45c 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.py
+++ b/launch/tier4_localization_launch/launch/util/util.launch.py
@@ -114,11 +114,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container",
         "container name",
     )
-    add_launch_arg(
-        "input/pointcloud",
-        "/sensing/lidar/top/rectified/pointcloud",
-        "input topic name for raw pointcloud",
-    )
     add_launch_arg(
         "output/pointcloud",
         "downsample/pointcloud",