[launch] add remap for acceleration msg

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
autowarefoundation · Jul 1, 2022 · 9a33219 · 9a33219
1 parent e00c4b5
commit 9a33219
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Showing 3 changed files with 4 additions and 0 deletions.
diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
@@ -104,6 +104,7 @@ def launch_setup(context, *args, **kwargs):
         remappings=[
             ("~/input/current_trajectory", "/planning/scenario_planning/trajectory"),
             ("~/input/current_odometry", "/localization/kinematic_state"),
+            ("~/input/current_accel", "/localization/acceleration"),
             ("~/output/control_cmd", "longitudinal/control_cmd"),
             ("~/output/slope_angle", "longitudinal/slope_angle"),
             ("~/output/diagnostic", "longitudinal/diagnostic"),

diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -366,6 +366,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/path_with_lane_id", "path_with_lane_id"),
             ("~/input/vector_map", "/map/vector_map"),
             ("~/input/vehicle_odometry", "/localization/kinematic_state"),
+            ("~/input/acceleration", "/localization/acceleration"),
             ("~/input/dynamic_objects", "/perception/object_recognition/objects"),
             (
                 "~/input/no_ground_pointcloud",

diff --git a/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -162,6 +162,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/objects", "/perception/object_recognition/objects"),
             ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"),
+            ("~/input/acceleration", "/localization/acceleration"),
         ],
         parameters=[
             common_param,
@@ -193,6 +194,7 @@ def launch_setup(context, *args, **kwargs):
         remappings=[
             ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"),
             ("~/input/odometry", "/localization/kinematic_state"),
+            ("~/input/acceleration", "/localization/acceleration"),
             ("~/input/objects", "/perception/object_recognition/objects"),
             ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
             ("~/output/velocity_limit", "/planning/scenario_planning/max_velocity_candidates"),