From dfdf9260b994e369d2f538a4fc159e0c42c11570 Mon Sep 17 00:00:00 2001
From: Daisuke Takano <daisuke.takano@tier4.jp>
Date: Wed, 1 Nov 2023 09:00:11 +0900
Subject: [PATCH] fix: sensing launch for awsim execution of x2

---
 aip_x2_launch/launch/pandar_node_container.launch.py | 2 +-
 aip_x2_launch/launch/sensing.launch.xml              | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index cfb39cc4..a5c2f551 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -182,7 +182,7 @@ def create_parameter_dict(*args):
         name="crop_box_filter_mirror_left",
         remappings=[
             ("input", "right_mirror_cropped/pointcloud_ex"),
-            ("output", "mirror_cropped/pointcloud_ex"),
+            ("output", "outlier_filtered/pointcloud"),
         ],
         parameters=[cropbox_parameters],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml
index 51614263..d6381554 100644
--- a/aip_x2_launch/launch/sensing.launch.xml
+++ b/aip_x2_launch/launch/sensing.launch.xml
@@ -1,6 +1,6 @@
 <launch>
 
-  <arg name="launch_driver" default="true" description="do launch driver"/>
+  <arg name="launch_driver" default="false" description="do launch driver"/>
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>