From 3fa76ac54bdaf1b4475b9168ce1baf9b56d33d0c Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Mon, 19 Dec 2022 17:18:16 +0900
Subject: [PATCH] feat: use top pointcloud in perception module (#370)

* feat: use top pointcloud in perception module

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* misc

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 perception_launch/launch/perception.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
index 682536956e..814e663371 100644
--- a/perception_launch/launch/perception.launch.xml
+++ b/perception_launch/launch/perception.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!-- common parameters -->
-  <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
+  <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the detection module"/>
   <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`, `pointpainting`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>