Ros2 fix topic name part1 (autowarefoundation#83)

* Fix topic name for behavior_velocity_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of lane_change_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of freespace_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name for freespace_planner Signed-off-by: Takagi, Isamu <[email protected]>
tkimura4 · Mar 12, 2021 · 9c64140 · 9c64140
1 parent e9770b8
commit 9c64140
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Showing 3 changed files with 21 additions and 21 deletions.
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -909,7 +909,7 @@ Visualization Manager:
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/scenario_planning/lane_driving/behavior_planning/debug/crosswalk
+                        Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk
                       Value: true
                     - Class: rviz_default_plugins/MarkerArray
                       Enabled: true
@@ -931,7 +931,7 @@ Visualization Manager:
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/scenario_planning/lane_driving/behavior_planning/debug/intersection
+                        Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection
                       Value: true
                     - Class: rviz_default_plugins/MarkerArray
                       Enabled: true
@@ -952,7 +952,7 @@ Visualization Manager:
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/scenario_planning/lane_driving/behavior_planning/debug/blind_spot
+                        Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot
                       Value: true
                     - Class: rviz_default_plugins/MarkerArray
                       Enabled: true
@@ -967,7 +967,7 @@ Visualization Manager:
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_light
+                        Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light
                       Value: true
                     - Class: rviz_default_plugins/MarkerArray
                       Enabled: true
@@ -980,7 +980,7 @@ Visualization Manager:
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/scenario_planning/lane_driving/behavior_planning/debug/stop_line
+                        Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line
                       Value: true
                     - Class: rviz_default_plugins/MarkerArray
                       Enabled: true
@@ -997,7 +997,7 @@ Visualization Manager:
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/scenario_planning/lane_driving/behavior_planning/debug/detection_area
+                        Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area
                       Value: true
                     - Class: rviz_default_plugins/MarkerArray
                       Enabled: true
@@ -1185,7 +1185,7 @@ Visualization Manager:
                     Durability Policy: Volatile
                     History Policy: Keep Last
                     Reliability Policy: Reliable
-                    Value: /planning/scenario_planning/parking/debug/partial_pose_array
+                    Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array
                   Value: true
                 - Alpha: 0.999
                   Arrow Length: 0.5
@@ -1205,7 +1205,7 @@ Visualization Manager:
                     Durability Policy: Volatile
                     History Policy: Keep Last
                     Reliability Policy: Reliable
-                    Value: /planning/scenario_planning/parking/debug/pose_array
+                    Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array
                   Value: true
               Enabled: true
               Name: Parking

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -4,17 +4,17 @@
   <arg name="vehicle_param_file" />
 
   <node pkg="lane_change_planner" exec="lane_change_planner" name="lane_change_planner" output="screen">
-    <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/lane_change_approval" to="/planning/scenario_planning/lane_driving/lane_change_approval" />
-    <remap from="input/force_lane_change" to="/planning/scenario_planning/lane_driving/force_lane_change" />
-    <remap from="output/lane_change_path" to="path_with_lane_id" />
-    <remap from="output/lane_change_ready" to="/planning/scenario_planning/lane_driving/lane_change_ready" />
-    <remap from="output/lane_change_available" to="/planning/scenario_planning/lane_driving/lane_change_available" />
-    <remap from="output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons" />
-    <remap from="debug/lane_change_candidate_path" to="/planning/scenario_planning/lane_driving/lane_change_candidate_path" />
+    <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/lane_change_approval" to="/planning/scenario_planning/lane_driving/lane_change_approval" />
+    <remap from="~/input/force_lane_change" to="/planning/scenario_planning/lane_driving/force_lane_change" />
+    <remap from="~/output/lane_change_path" to="path_with_lane_id" />
+    <remap from="~/output/lane_change_ready" to="/planning/scenario_planning/lane_driving/lane_change_ready" />
+    <remap from="~/output/lane_change_available" to="/planning/scenario_planning/lane_driving/lane_change_available" />
+    <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons" />
+    <remap from="~/debug/lane_change_candidate_path" to="/planning/scenario_planning/lane_driving/lane_change_candidate_path" />
     <param name="min_stop_distance" value="5.0" />
     <param name="stop_time" value="2.0" />
     <param name="hysteresis_buffer_distance" value="2.0" />

diff --git a/planning_launch/launch/scenario_planning/parking.launch.xml b/planning_launch/launch/scenario_planning/parking.launch.xml
@@ -7,8 +7,8 @@
       <arg name="input_points_no_ground" value="/sensing/lidar/no_ground/pointcloud"/>
       <arg name="input_lanelet_map" value="/map/vector_map"/>
       <arg name="input_scenario" value="/planning/scenario_planning/scenario"/>
-      <arg name="output_grid_map" value="grid_map"/>
-      <arg name="output_occupancy_grid" value="occupancy_grid"/>
+      <arg name="output_grid_map" value="costmap_generator/grid_map"/>
+      <arg name="output_occupancy_grid" value="costmap_generator/occupancy_grid"/>
     </include>
 
     <include file="$(find-pkg-share freespace_planner)/launch/freespace_planner.launch.xml">