From 9a33219d68b44f090a07fd676ee8b0f418be232e Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 1 Jul 2022 20:12:29 +0900 Subject: [PATCH] [launch] add remap for acceleration msg Signed-off-by: Takamasa Horibe --- launch/tier4_control_launch/launch/control.launch.py | 1 + .../lane_driving/behavior_planning/behavior_planning.launch.py | 1 + .../lane_driving/motion_planning/motion_planning.launch.py | 2 ++ 3 files changed, 4 insertions(+) diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index b3d26d0927859..ee0afab3662b7 100644 --- 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/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 8b917ccbc2f3e..5a17711a28307 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/launch/tier4_planning_launch/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/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 0aad10cb6812c..6b2d862191253 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/launch/tier4_planning_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"),