Merge pull request #162 from tier4/chore/cherry-pick

feat(aip_x2_launch): add input topic remapping (#161)
tier4 · Jul 31, 2023 · 1b9b200 · 1b9b200
2 parents 34bb99d + 18538cd
commit 1b9b200
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -31,7 +31,10 @@ def launch_setup(context, *args, **kwargs):
         package="pointcloud_preprocessor",
         plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
         name="concatenate_data",
-        remappings=[("output", "concatenated/pointcloud")],
+        remappings=[
+            ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
+            ("output", "concatenated/pointcloud"),
+        ],
         parameters=[
             {
                 "input_topics": [