diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
index bf120a8f..4a3ad9e1 100644
--- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -37,7 +37,7 @@ def launch_setup(context, *args, **kwargs):
parameters=[
{
"input_topics": [
- "/sensing/lidar/top/outlier_filtered/pointcloud",
+ "/sensing/lidar/top/pointcloud",
"/sensing/lidar/front_left/min_range_cropped/pointcloud",
"/sensing/lidar/front_right/min_range_cropped/pointcloud",
"/sensing/lidar/front_center/min_range_cropped/pointcloud",
diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.py b/aip_x1_launch/launch/topic_state_monitor.launch.py
index 6692021d..b45b0f4e 100644
--- a/aip_x1_launch/launch/topic_state_monitor.launch.py
+++ b/aip_x1_launch/launch/topic_state_monitor.launch.py
@@ -81,7 +81,7 @@ def generate_launch_description():
name="topic_state_monitor_top_outlier_filtered",
parameters=[
{
- "topic": "/sensing/lidar/top/outlier_filtered/pointcloud",
+ "topic": "/sensing/lidar/top/pointcloud",
"topic_type": "sensor_msgs/msg/PointCloud2",
"best_effort": True,
"diag_name": "sensing_topic_status",
diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.xml b/aip_x1_launch/launch/topic_state_monitor.launch.xml
index 6115d18e..8912fb67 100644
--- a/aip_x1_launch/launch/topic_state_monitor.launch.xml
+++ b/aip_x1_launch/launch/topic_state_monitor.launch.xml
@@ -34,7 +34,7 @@
<!-- Topic Monitor for Concat Filter -->
<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="top_outlier_filtered"/>
- <arg name="topic" value="/sensing/lidar/top/outlier_filtered/pointcloud"/>
+ <arg name="topic" value="/sensing/lidar/top/pointcloud"/>
<arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="sensing_topic_status"/>
diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py
index 95af023c..56b35116 100644
--- a/aip_x1_launch/launch/velodyne_node_container.launch.py
+++ b/aip_x1_launch/launch/velodyne_node_container.launch.py
@@ -128,7 +128,7 @@ def create_parameter_dict(*args):
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
- ("output", "outlier_filtered/pointcloud"),
+ ("output", "pointcloud"),
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index 4c87d76c..cfb39cc4 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -208,7 +208,7 @@ def create_parameter_dict(*args):
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
- ("output", "outlier_filtered/pointcloud"),
+ ("output", "pointcloud"),
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
@@ -219,7 +219,7 @@ def create_parameter_dict(*args):
name="dual_return_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
- ("output", "outlier_filtered/pointcloud"),
+ ("output", "pointcloud"),
],
parameters=[
{
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index ae5c2022..4ef586ff 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -38,14 +38,14 @@ def launch_setup(context, *args, **kwargs):
parameters=[
{
"input_topics": [
- "/sensing/lidar/front_upper/outlier_filtered/pointcloud",
- "/sensing/lidar/front_lower/outlier_filtered/pointcloud",
- "/sensing/lidar/left_upper/outlier_filtered/pointcloud",
- "/sensing/lidar/left_lower/outlier_filtered/pointcloud",
- "/sensing/lidar/right_upper/outlier_filtered/pointcloud",
- "/sensing/lidar/right_lower/outlier_filtered/pointcloud",
- "/sensing/lidar/rear_upper/outlier_filtered/pointcloud",
- "/sensing/lidar/rear_lower/outlier_filtered/pointcloud",
+ "/sensing/lidar/front_upper/pointcloud",
+ "/sensing/lidar/front_lower/pointcloud",
+ "/sensing/lidar/left_upper/pointcloud",
+ "/sensing/lidar/left_lower/pointcloud",
+ "/sensing/lidar/right_upper/pointcloud",
+ "/sensing/lidar/right_lower/pointcloud",
+ "/sensing/lidar/rear_upper/pointcloud",
+ "/sensing/lidar/rear_lower/pointcloud",
],
"input_offset": [0.025, 0.025, 0.01, 0.0, 0.05, 0.05, 0.05, 0.05],
"timeout_sec": 0.075,
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index 377c916e..e1888824 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -38,10 +38,10 @@ def launch_setup(context, *args, **kwargs):
parameters=[
{
"input_topics": [
- "/sensing/lidar/top/outlier_filtered/pointcloud",
- "/sensing/lidar/left/outlier_filtered/pointcloud",
- "/sensing/lidar/right/outlier_filtered/pointcloud",
- "/sensing/lidar/rear/outlier_filtered/pointcloud",
+ "/sensing/lidar/top/pointcloud",
+ "/sensing/lidar/left/pointcloud",
+ "/sensing/lidar/right/pointcloud",
+ "/sensing/lidar/rear/pointcloud",
],
"output_frame": LaunchConfiguration("base_frame"),
"input_offset": [
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index a237372e..a79681b8 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -187,7 +187,7 @@ def create_parameter_dict(*args):
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
- ("output", "outlier_filtered/pointcloud"),
+ ("output", "pointcloud"),
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)