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chore(ground_segmentation): rename topic and node (autowarefoundation#6536)
* chore(ground_segmentation): rename topic and node Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update synchronized_grid_map_fusion Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

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@@ -40,7 +40,7 @@ def __init__(self, context):
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self.ground_segmentation_param = yaml.safe_load(f)["/**"]["ros__parameters"]
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self.single_frame_obstacle_seg_output = (
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"/perception/obstacle_segmentation/single_frame/pointcloud_raw"
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"/perception/obstacle_segmentation/single_frame/pointcloud"
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)
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self.output_topic = "/perception/obstacle_segmentation/pointcloud"
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self.use_single_frame_filter = self.ground_segmentation_param["use_single_frame_filter"]
@@ -297,7 +297,7 @@ def create_time_series_outlier_filter_components(input_topic, output_topic):
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ComposableNode(
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package="occupancy_grid_map_outlier_filter",
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plugin="occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent",
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name="occupancy_grid_map_outlier_filter",
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name="occupancy_grid_based_outlier_filter",
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remappings=[
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("~/input/occupancy_grid_map", "/perception/occupancy_grid_map/map"),
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("~/input/pointcloud", input_topic),

launch/tier4_perception_launch/launch/perception.launch.xml

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<group>
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<push-ros-namespace namespace="occupancy_grid_map"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
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<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
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<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
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<arg name="input/raw_pointcloud" value="$(var input/pointcloud)"/>
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<arg name="output" value="/perception/occupancy_grid_map/map"/>
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<arg name="use_intra_process" value="true"/>

perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md

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@@ -97,7 +97,7 @@ You need to generate OGMs in each sensor frame before achieving grid map fusion.
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```xml
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<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
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<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
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<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
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<arg name="input/raw_pointcloud" value="/sensing/lidar/right/outlier_filtered/pointcloud_synchronized"/>
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<arg name="output" value="/perception/occupancy_grid_map/right_lidar/map"/>
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<arg name="map_frame" value="base_link"/>

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