fix(autoware_carla_interface): fix lidar topic name (#9645)

maxime-clem · web-flow · commit ca2d4e7774ab · 2025-01-06T16:40:09.000+09:00
Signed-off-by: Maxime CLEMENT &lt;maxime.clement@tier4.jp&gt;
diff --git a/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_ros.py b/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_ros.py
@@ -147,7 +147,7 @@ def __init__(self):
             elif sensor["type"] == "sensor.lidar.ray_cast":
                 if sensor["id"] in self.sensor_frequencies:
                     self.pub_lidar[sensor["id"]] = self.ros2_node.create_publisher(
-                        PointCloud2, f'/sensing/lidar/{sensor["id"]}/pointcloud', 10
+                        PointCloud2, f'/sensing/lidar/{sensor["id"]}/pointcloud_before_sync', 10
                     )
                 else:
                     self.ros2_node.get_logger().info(

Original file line number	Diff line number	Diff line change
`@@ -147,7 +147,7 @@ def __init__(self):`
`147`	`147`	`elif sensor["type"] == "sensor.lidar.ray_cast":`
`148`	`148`	`if sensor["id"] in self.sensor_frequencies:`
`149`	`149`	`self.pub_lidar[sensor["id"]] = self.ros2_node.create_publisher(`
`150`		`- PointCloud2, f'/sensing/lidar/{sensor["id"]}/pointcloud', 10`
	`150`	`+ PointCloud2, f'/sensing/lidar/{sensor["id"]}/pointcloud_before_sync', 10`
`151`	`151`	`)`
`152`	`152`	`else:`
`153`	`153`	`self.ros2_node.get_logger().info(`