From 201e10db0fe23de787c7c947ee74e7d924584cbb Mon Sep 17 00:00:00 2001
From: scepter914 <scepter914@gmail.com>
Date: Fri, 8 Jul 2022 19:39:34 +0900
Subject: [PATCH] fix reviewed by #1263

Signed-off-by: scepter914 <scepter914@gmail.com>
---
 .../ground_segmentation/ground_segmentation.launch.py        | 5 +----
 launch/tier4_perception_launch/launch/perception.launch.xml  | 2 ++
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index e580eae17833d..53c155d719ced 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -75,10 +75,7 @@ def create_additional_pipeline(self, lidar_name):
                 plugin="pointcloud_preprocessor::CropBoxFilterComponent",
                 name=f"{lidar_name}_crop_box_filter",
                 remappings=[
-                    (
-                        "input",
-                        f"/sensing/lidar/{lidar_name}/outlier_filtered/pointcloud",
-                    ),
+                    ("input", f"/sensing/lidar/{lidar_name}/outlier_filtered/pointcloud"),
                     ("output", f"{lidar_name}/range_cropped/pointcloud"),
                 ],
                 parameters=[
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 5c634930e7fa9..50dd53550f20c 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -2,6 +2,7 @@
 <launch>
   <!-- common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
+  <arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
@@ -40,6 +41,7 @@
       <push-ros-namespace namespace="obstacle_segmentation"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
         <arg name="base_frame" value="base_link"/>
+        <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>