From 4214390866020e746b6bcb13787a76a819d8799a Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Fri, 3 Sep 2021 08:42:38 +0900
Subject: [PATCH] added stop filter launch in localization_launch (#270)

---
 .../pose_twist_fusion_filter.launch.xml                  | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

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 07d5bb04d..ba2ee548d 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
@@ -15,7 +15,7 @@
     <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_twist_name" value="/localization/twist"/>
+    <arg name="output_twist_name" value="twist"/>
     <arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
 
     <arg name="twist_stddev_wz" value="0.003 "/>
@@ -23,4 +23,11 @@
     <arg name="proc_stddev_vx_c" value="10.0"/>
     <arg name="proc_stddev_wz_c" value="5.0"/>
   </include>
+  <include file="$(find-pkg-share stop_filter)/launch/stop_filter.launch.xml">
+    <arg name="use_twist_with_covariance" value="True"/>
+    <arg name="input_twist_name" value="/localization/pose_twist_fusion_filter/twist"/>
+    <arg name="input_twist_with_covariance_name" value="/localization/pose_twist_fusion_filter/twist_with_covariance"/>
+    <arg name="output_twist_name" value="/localization/twist"/>
+    <arg name="output_twist_with_covariance_name" value="/localization/twist_with_covariance"/>
+  </include>
 </launch>