feat(planning_launch): use acceleration from localization module (#482)

* feat(planning_launch): subscribe acceleration from localization module Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(planning_launch): subscribe acceleration from localization module Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Sep 14, 2022 · 6098a73 · 6098a73
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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
@@ -142,6 +142,7 @@ def generate_launch_description():
             ("~/input/vector_map", LaunchConfiguration("map_topic_name")),
             ("~/input/perception", "/perception/object_recognition/objects"),
             ("~/input/odometry", "/localization/kinematic_state"),
+            ("~/input/accel", "/localization/acceleration"),
             ("~/input/scenario", "/planning/scenario_planning/scenario"),
             ("~/output/path", "path_with_lane_id"),
             ("~/output/turn_indicators_cmd", "/planning/turn_indicators_cmd"),
@@ -342,6 +343,7 @@ def generate_launch_description():
             ("~/input/path_with_lane_id", "path_with_lane_id"),
             ("~/input/vector_map", "/map/vector_map"),
             ("~/input/vehicle_odometry", "/localization/kinematic_state"),
+            ("~/input/accel", "/localization/acceleration"),
             ("~/input/dynamic_objects", "/perception/object_recognition/objects"),
             (
                 "~/input/no_ground_pointcloud",

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -7,6 +7,7 @@
     <remap from="~/input/vector_map" to="$(var map_topic_name)" />
     <remap from="~/input/perception" to="/perception/object_recognition/objects" />
     <remap from="~/input/odometry" to="/localization/kinematic_state" />
+    <remap from="~/input/accel" to="/localization/acceleration"/>
     <remap from="~/output/path" to="path_with_lane_id" />
     <remap from="~/output/turn_indicators_cmd" to="/planning/turn_signal_cmd" />
     <remap from="~/output/hazard_lights_cmd" to="/planning/hazard_signal_cmd" />