From ef611e086fba879c4a28d90a2e020e44bea9af58 Mon Sep 17 00:00:00 2001
From: Takeshi Ishita <ishitah.takeshi@gmail.com>
Date: Tue, 6 Sep 2022 18:42:02 +0900
Subject: [PATCH] fix(localization_launch): rename biased pose topics (#469)

fix(localization_launch): rename biased yaw topics
---
 .../launch/pose_estimator/pose_estimator.launch.xml           | 2 +-
 .../pose_twist_fusion_filter.launch.xml                       | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
index 7e9d0ab8d2c3b..3273db453f0f2 100644
--- a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
+++ b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
@@ -4,7 +4,7 @@
   <include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
     <arg name="input_map_points_topic" value="/map/pointcloud_map"/>
     <arg name="input/pointcloud" value="/localization/util/downsample/pointcloud"/>
-    <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias"/>
+    <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/biased_pose_with_covariance"/>
 
 
     <arg name="output_pose_topic" value="/localization/pose_estimator/pose"/>
diff --git a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
index 0f7883c0e8bed..9988df4cef052 100644
--- a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
+++ b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
@@ -11,8 +11,8 @@
     <arg name="output_odom_name" value="kinematic_state"/>
     <arg name="output_pose_name" value="pose"/>
     <arg name="output_pose_with_covariance_name" value="/localization/pose_with_covariance"/>
-    <arg name="output_pose_without_yawbias_name" value="pose_without_yawbias"/>
-    <arg name="output_pose_with_covariance_without_yawbias_name" value="pose_with_covariance_without_yawbias"/>
+    <arg name="output_biased_pose_name" value="biased_pose"/>
+    <arg name="output_biased_pose_with_covariance_name" value="biased_pose_with_covariance"/>
     <arg name="output_twist_name" value="twist"/>
     <arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>