From d3e728d623875b13324e8f656612a1f15529bf3a Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Mon, 13 May 2024 16:54:54 +0900 Subject: [PATCH] fix: ground_seg concat node Signed-off-by: badai-nguyen --- .../ground_segmentation/ground_segmentation.launch.py | 4 +--- 1 file changed, 1 insertion(+), 3 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 4131556a5680e..1a8ad171fb92e 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 @@ -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(