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fix(tier4_perception_launch): fix config path #3078

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merged 2 commits into from
Mar 15, 2023
Merged

fix(tier4_perception_launch): fix config path #3078

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fix(tier4_perception_launch): fix config path
takayuki5168 Mar 14, 2023
a93c1df
use pointcloud_based_occupancy_grid_map.launch.py in tier4_simulator_…
takayuki5168 Mar 15, 2023
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7 changes: 6 additions & 1 deletion ..._perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
Expand Down Expand Up @@ -138,7 +139,11 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("output/stixel", "virtual_scan/stixel"),
add_launch_arg("input_obstacle_pointcloud", "false"),
add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),
add_launch_arg("param_file", "config/laserscan_based_occupancy_grid_map.param.yaml"),
add_launch_arg(
"param_file",
get_package_share_directory("probabilistic_occupancy_grid_map")
+ "/config/laserscan_based_occupancy_grid_map.param.yaml",
),
add_launch_arg("use_pointcloud_container", "false"),
add_launch_arg("container_name", "occupancy_grid_map_container"),
set_container_executable,
Expand Down