chore: update input topic of traffic signal in planning modules (#693)

Signed-off-by: Tomohito Ando <[email protected]>
tier4 · Aug 1, 2023 · d78e6e8 · d78e6e8
1 parent f79a59b
commit d78e6e8
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
@@ -219,7 +219,7 @@ void TrafficLightPublishPanel::onInitialize()
   raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();
 
   pub_traffic_signals_ = raw_node_->create_publisher<TrafficSignalArray>(
-    "/perception/traffic_light_arbiter/traffic_signals", rclcpp::QoS(1));
+    "/perception/traffic_light_recognition/traffic_signals", rclcpp::QoS(1));
 
   sub_vector_map_ = raw_node_->create_subscription<HADMapBin>(
     "/map/vector_map", rclcpp::QoS{1}.transient_local(),

diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -173,7 +173,7 @@ def launch_setup(context, *args, **kwargs):
             ),
             (
                 "~/input/traffic_signals",
-                "/perception/traffic_light_arbiter/traffic_signals",
+                "/perception/traffic_light_recognition/traffic_signals",
             ),
             (
                 "~/input/external_velocity_limit_mps",