From 18538cda9bc91fcf8094fd792ae5857c16e27d50 Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Fri, 28 Jul 2023 15:54:34 +0900
Subject: [PATCH] feat(aip_x2_launch): add input topic remapping (#161)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 aip_x2_launch/launch/pointcloud_preprocessor.launch.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index 748d53f0..cca7ebc5 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -31,7 +31,10 @@ def launch_setup(context, *args, **kwargs):
         package="pointcloud_preprocessor",
         plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
         name="concatenate_data",
-        remappings=[("output", "concatenated/pointcloud")],
+        remappings=[
+            ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
+            ("output", "concatenated/pointcloud"),
+        ],
         parameters=[
             {
                 "input_topics": [