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>

Author: badai-nguyen

launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

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

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -139,7 +139,7 @@
     <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
-        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
+        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
         <arg name="input/raw_pointcloud" value="$(var input/pointcloud)"/>
         <arg name="output" value="/perception/occupancy_grid_map/map"/>
         <arg name="use_intra_process" value="true"/>

perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md

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