fix(tier4_simulator_launch): fix launch package name

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Apr 10, 2023 · 505e314 · 505e314
1 parent 6b55253
commit 505e314
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -39,12 +39,14 @@
   <group unless="$(var scenario_simulation)">
     <!-- Occupancy Grid -->
     <push-ros-namespace namespace="occupancy_grid_map"/>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
       <arg name="input_obstacle_pointcloud" value="true"/>
       <arg name="input_obstacle_and_raw_pointcloud" value="false"/>
       <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud"/>
       <arg name="output" value="/perception/occupancy_grid_map/map"/>
-      <arg name="param_file" value="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml"/>
+      <arg name="method" value="laserscan_based_occupancy_grid_map"/>
+      <arg name="map_origin" value="base_link"/>
+      <arg name="scan_origin" value="base_link"/>
     </include>
   </group>