fix: ground_seg concat node

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
tier4 · May 13, 2024 · d3e728d · d3e728d
1 parent 8923c58
commit d3e728d
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -437,20 +437,18 @@ def get_additional_lidars_concatenated_component(input_topics, output_topic):
             plugin="pointcloud_preprocessor::PointCloudConcatenationComponent",
             name="concatenate_data",
             remappings=[
-                ("~/input/odom", "/localization/kinematic_state"),
                 ("output", output_topic),
             ],
             parameters=[
                 {
                     "input_topics": input_topics,
                     "output_frame": LaunchConfiguration("base_frame"),
-                    "input_twist_topic_type": "odom",
+                    "approximate_sync": True,
                     "timeout_sec": 0.095,
                 }
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
-
     @staticmethod
     def get_single_frame_obstacle_segmentation_concatenated_component(input_topics, output_topic):
         return ComposableNode(