From a360f6083d53ba78ad5adca83914e05450dd29ae Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Date: Mon, 11 Jul 2022 20:22:59 +0900
Subject: [PATCH] fix: input pointcloud (#289)

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@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 28e6e7b14a..0a5114200a 100644
--- a/perception_launch/launch/perception.launch.xml
+++ b/perception_launch/launch/perception.launch.xml
@@ -2,7 +2,7 @@
 
 <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="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>