twist -> odometry

control_launch/launch/control.launch.py

@@ -61,7 +61,7 @@ def launch_setup(context, *args, **kwargs):
         namespace="trajectory_follower",
         remappings=[
             ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
-            ("~/input/current_velocity", "/localization/twist"),
+            ("~/input/current_velocity", "/localization/kinematic_state"),
             ("~/input/current_steering", "/vehicle/status/steering"),
             ("~/output/control_raw", "lateral/control_cmd"),
             ("~/output/predicted_trajectory", "predicted_trajectory"),
@@ -79,7 +79,7 @@ def launch_setup(context, *args, **kwargs):
         namespace="trajectory_follower",
         remappings=[
             ("input/reference_trajectory", "/planning/scenario_planning/trajectory"),
-            ("input/current_velocity", "/localization/twist"),
+            ("input/current_velocity", "/localization/kinematic_state"),
             ("output/control_raw", "lateral/control_cmd"),
         ],
         parameters=[
@@ -95,7 +95,7 @@ def launch_setup(context, *args, **kwargs):
         name="velocity_controller",
         namespace="trajectory_follower",
         remappings=[
-            ("~/current_velocity", "/localization/twist"),
+            ("~/current_velocity", "/localization/kinematic_state"),
             ("~/control_cmd", "longitudinal/control_cmd"),
             ("~/current_trajectory", "/planning/scenario_planning/trajectory"),
         ],
@@ -132,7 +132,7 @@ def launch_setup(context, *args, **kwargs):
         name="lane_departure_checker_node",
         namespace="trajectory_follower",
         remappings=[
-            ("~/input/twist", "/localization/twist"),
+            ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/lanelet_map_bin", "/map/vector_map"),
             ("~/input/route", "/planning/mission_planning/route"),
             ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),

planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py

@@ -129,7 +129,7 @@ def generate_launch_description():
             ("~/input/route", LaunchConfiguration("input_route_topic_name")),
             ("~/input/vector_map", LaunchConfiguration("map_topic_name")),
             ("~/input/perception", "/perception/object_recognition/objects"),
-            ("~/input/velocity", "/localization/twist"),
+            ("~/input/odometry", "/localization/kinematic_state"),
             (
                 "~/input/external_approval",
                 "/planning/scenario_planning/lane_driving/behavior_planning/"
@@ -250,7 +250,7 @@ def generate_launch_description():
         remappings=[
             ("~/input/path_with_lane_id", "path_with_lane_id"),
             ("~/input/vector_map", "/map/vector_map"),
-            ("~/input/vehicle_velocity", "/localization/twist"),
+            ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/dynamic_objects", "/perception/object_recognition/objects"),
             ("~/input/no_ground_pointcloud", "/sensing/lidar/no_ground/pointcloud"),
             (

planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -9,7 +9,7 @@
     <remap from="~/input/route" to="$(var input_route_topic_name)" />
     <remap from="~/input/vector_map" to="$(var map_topic_name)" />
     <remap from="~/input/perception" to="/perception/object_recognition/objects" />
-    <remap from="~/input/velocity" to="/localization/twist" />
+    <remap from="~/input/odometry" to="/localization/kinematic_state" />
     <remap from="~/input/external_approval" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval" />
     <remap from="~/input/force_approval" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_force" />
     <remap from="~/output/path" to="path_with_lane_id" />

planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py

@@ -92,7 +92,7 @@ def generate_launch_description():
             ("~/output/trajectory", "surround_obstacle_checker/trajectory"),
             ("~/input/pointcloud", "/sensing/lidar/no_ground/pointcloud"),
             ("~/input/objects", "/perception/object_recognition/objects"),
-            ("~/input/twist", "/localization/twist"),
+            ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"),
         ],
         parameters=[
@@ -156,7 +156,7 @@ def generate_launch_description():
             ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
             ("~/input/pointcloud", "/sensing/lidar/no_ground/pointcloud"),
             ("~/input/objects", "/perception/object_recognition/objects"),
-            ("~/input/twist", "/localization/twist"),
+            ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/trajectory", "surround_obstacle_checker/trajectory"),
         ],
         parameters=[

planning_launch/launch/scenario_planning/parking.launch.py

@@ -92,7 +92,7 @@ def generate_launch_description():
                     ("~/input/route", "/planning/mission_planning/route"),
                     ("~/input/occupancy_grid", "costmap_generator/occupancy_grid"),
                     ("~/input/scenario", "/planning/scenario_planning/scenario"),
-                    ("~/input/twist", "/localization/twist"),
+                    ("~/input/odometry", "/localization/kinematic_state"),
                     ("~/output/trajectory", "/planning/scenario_planning/parking/trajectory"),
                     ("is_completed", "/planning/scenario_planning/parking/is_completed"),
                 ],

planning_launch/launch/scenario_planning/parking.launch.xml

@@ -15,7 +15,7 @@
       <arg name="input_route" value="/planning/mission_planning/route" />
       <arg name="input_occupancy_grid" value="costmap_generator/occupancy_grid" />
       <arg name="input_scenario" value="/planning/scenario_planning/scenario" />
-      <arg name="input_twist" value="/localization/twist" />
+      <arg name="input_odometry" value="/localization/kinematic_state" />
       <arg name="output_trajectory" value="/planning/scenario_planning/parking/trajectory" />
       <arg name="is_completed" value="/planning/scenario_planning/parking/is_completed" />
       <arg name="param_file" value="$(find-pkg-share planning_launch)/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml" />

planning_launch/launch/scenario_planning/scenario_planning.launch.xml

@@ -8,7 +8,7 @@
     <arg name="input_parking_trajectory" value="/planning/scenario_planning/parking/trajectory"/>
     <arg name="input_lanelet_map" value="/map/vector_map"/>
     <arg name="input_route" value="/planning/mission_planning/route"/>
-    <arg name="input_twist" value="/localization/twist"/>
+    <arg name="input_odometry" value="/localization/kinematic_state"/>
     <arg name="output_scenario" value="/planning/scenario_planning/scenario"/>
     <arg name="output_trajectory" value="/planning/scenario_planning/scenario_selector/trajectory"/>
     <arg name="is_parking_completed" value="/planning/scenario_planning/parking/is_completed"/>