feature/use common pointcloud container (autowarefoundation#147)

* add container argument

* load composable node to pointcloud_container

* fix autoware_launch

* enable multi-thread

* improve readability

autoware_launch/launch/autoware.launch.xml

@@ -4,6 +4,8 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <!-- Optional parameters -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
@@ -14,6 +16,12 @@
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
+  <!-- Pointcloud container -->
+  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
+    <arg name="use_multithread" value="true" />
+    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+  </include>
+
   <!-- Vehicle -->
   <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
@@ -38,6 +46,8 @@
     <arg name="sensor_model" value="$(var sensor_model)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 
   <!-- Localization -->
@@ -49,6 +59,8 @@
     <!-- options for mode: camera_lidar_fusion, lidar, camera -->
     <arg name="mode" value="camera_lidar_fusion" />
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 
   <!-- Planning -->

autoware_launch/launch/logging_simulator.launch.xml

@@ -20,6 +20,8 @@
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <arg name="vehicle_simulation" default="false" description="use vehicle simulation"/>
+  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <!-- Optional parameters for scenario simulation -->
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
 
@@ -29,6 +31,12 @@
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
+  <!-- Pointcloud container -->
+  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
+    <arg name="use_multithread" value="true" />
+    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+  </include>
+
   <!-- Vehicle -->
   <group>
     <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml" if="$(var vehicle)">
@@ -62,6 +70,8 @@
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
 
@@ -77,6 +87,8 @@
       <!-- options for mode: camera_lidar_fusion, lidar, camera -->
       <arg name="mode" value="camera_lidar_fusion" />
       <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
 

autoware_launch/launch/pointcloud_container.launch.py

@@ -0,0 +1,57 @@
+# Copyright 2021 Tier IV, Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+
+
+def generate_launch_description():
+    def add_launch_arg(name: str, default_value=None):
+        return DeclareLaunchArgument(name, default_value=default_value)
+
+    set_container_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container",
+        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    set_container_mt_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container_mt",
+        condition=IfCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    pointcloud_container = ComposableNodeContainer(
+        name=LaunchConfiguration("container_name"),
+        namespace="/",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=[],
+        output="screen",
+    )
+
+    return LaunchDescription(
+        [
+            add_launch_arg("use_multithread", "false"),
+            add_launch_arg("container_name", "pointcloud_container"),
+            set_container_executable,
+            set_container_mt_executable,
+            pointcloud_container,
+        ]
+    )

perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -319,20 +319,36 @@ def launch_setup(context, *args, **kwargs):
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
-        name="perception_pipeline_container",
+        name=LaunchConfiguration("container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[
             crop_box_filter_component,
             ground_filter_component,
         ],
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 
+    composable_nodes_loader = LoadComposableNodes(
+        composable_node_descriptions=[
+            crop_box_filter_component,
+            ground_filter_component,
+        ],
+        target_container=LaunchConfiguration("container_name"),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
+    )
+
+    target_container = (
+        container
+        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
+        else LaunchConfiguration("container_name")
+    )
+
     additional_pipeline_loader = LoadComposableNodes(
         composable_node_descriptions=additional_pipeline_components,
-        target_container=container,
+        target_container=target_container,
         condition=IfCondition(
             LaunchConfiguration(
                 "use_additional_pipeline",
@@ -343,7 +359,7 @@ def launch_setup(context, *args, **kwargs):
 
     concat_data_component_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_data_component],
-        target_container=container,
+        target_container=target_container,
         condition=IfCondition(
             LaunchConfiguration(
                 "use_additional_pipeline",
@@ -354,7 +370,7 @@ def launch_setup(context, *args, **kwargs):
 
     compare_map_component_loader = LoadComposableNodes(
         composable_node_descriptions=create_elevation_map_filter_pipeline(),
-        target_container=container,
+        target_container=target_container,
         condition=IfCondition(
             LaunchConfiguration(
                 "use_compare_map_pipeline",
@@ -365,7 +381,7 @@ def launch_setup(context, *args, **kwargs):
 
     occupancy_grid_outlier_filter_component_loader = LoadComposableNodes(
         composable_node_descriptions=[occupancy_outlier_filter_component],
-        target_container=container,
+        target_container=target_container,
         condition=UnlessCondition(
             LaunchConfiguration(
                 "use_compare_map_pipeline",
@@ -376,6 +392,7 @@ def launch_setup(context, *args, **kwargs):
 
     return [
         container,
+        composable_nodes_loader,
         additional_pipeline_loader,
         compare_map_component_loader,
         concat_data_component_loader,
@@ -394,6 +411,8 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("vehicle_param_file")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "True")
+    add_launch_arg("use_pointcloud_container", "False")
+    add_launch_arg("container_name", "perception_pipeline_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

perception_launch/launch/occupancy_grid_map/occupancy_grid_map.launch.py

@@ -16,8 +16,6 @@
 from launch.actions import DeclareLaunchArgument
 from launch.actions import SetLaunchConfiguration
 from launch.conditions import IfCondition
-from launch.conditions import LaunchConfigurationEquals
-from launch.conditions import LaunchConfigurationNotEquals
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
@@ -102,24 +100,23 @@ def add_launch_arg(name: str, default_value=None):
     ]
 
     occupancy_grid_map_container = ComposableNodeContainer(
-        condition=LaunchConfigurationEquals("container", ""),
-        name="occupancy_grid_map_container",
+        name=LaunchConfiguration("container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=composable_nodes,
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 
     load_composable_nodes = LoadComposableNodes(
-        condition=LaunchConfigurationNotEquals("container", ""),
         composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container"),
+        target_container=LaunchConfiguration("container_name"),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
     return LaunchDescription(
         [
-            add_launch_arg("container", ""),
             add_launch_arg("use_multithread", "false"),
             add_launch_arg("use_intra_process", "false"),
             add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
@@ -131,6 +128,8 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("output/stixel", "virtual_scan/stixel"),
             add_launch_arg("input_obstacle_pointcloud", "false"),
             add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),
+            add_launch_arg("use_pointcloud_container", "False"),
+            add_launch_arg("container_name", "occupancy_grid_map_container"),
             set_container_executable,
             set_container_mt_executable,
             occupancy_grid_map_container,

perception_launch/launch/perception.launch.xml

@@ -23,6 +23,8 @@
   <arg name="image_number" default="6" description="choose image raw number(0-7)"/>
   <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
   <arg name="use_empty_dynamic_object_publisher" default="false" description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <!-- perception module -->
   <group>
@@ -39,6 +41,8 @@
           <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
           <arg name="use_intra_process" value="true" />
           <arg name="use_multithread" value="true" />
+          <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+          <arg name="container_name" value="$(var pointcloud_container_name)"/>
         </include>
       </group>
     </group>
@@ -50,6 +54,10 @@
         <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/ground_segmentation/no_ground/pointcloud" />
         <arg name="input/raw_pointcloud" value="/sensing/lidar/concatenated/pointcloud" />
         <arg name="output" value="/perception/occupancy_grid_map/map" />
+        <arg name="use_intra_process" value="true" />
+        <arg name="use_multithread" value="true" />
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+        <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 

sensing_launch/launch/sensing.launch.xml

@@ -4,6 +4,8 @@
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="vehicle_param_file" description="path to the file of vehicle info yaml"/>
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
 
@@ -15,6 +17,8 @@
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
   </group>