feat(tier4_localization_launch): pass pc container to localization (a…

…utowarefoundation#2114)

* feature(tier4_localization_launch): pass pc container to localization

Signed-off-by: Kaan Colak <kcolak@leodrive.ai>

* ci(pre-commit): autofix

* feature(tier4_localization_launch): update util.launch.xml

Signed-off-by: Kaan Colak <kcolak@leodrive.ai>

* feature(tier4_localization_launch): update use container param value

Signed-off-by: Kaan Colak <kcolak@leodrive.ai>

Signed-off-by: Kaan Colak <kcolak@leodrive.ai>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: kminoda <koji.minoda@tier4.jp>

launch/tier4_localization_launch/launch/localization.launch.xml

@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
-  <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"/>
+  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <arg name="tier4_localization_launch_param_path" default="$(find-pkg-share tier4_localization_launch)/config" description="tier4_localization_launch parameter path"/>
 
@@ -13,7 +14,8 @@
       <push-ros-namespace namespace="util"/>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="container" value="$(var container)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
         <arg name="tier4_localization_launch_param_path" value="$(var tier4_localization_launch_param_path)"/>
       </include>
     </group>

launch/tier4_localization_launch/launch/util/util.launch.py

@@ -16,6 +16,7 @@
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
 from launch.conditions import LaunchConfigurationNotEquals
+from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
@@ -71,10 +72,16 @@ def load_composable_node_param(param_path):
         random_downsample_component,
     ]
 
+    target_container = (
+        "/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
+        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
+        else LaunchConfiguration("pointcloud_container_name")
+    )
+
     load_composable_nodes = LoadComposableNodes(
-        condition=LaunchConfigurationNotEquals("container", ""),
+        condition=LaunchConfigurationNotEquals(target_container, ""),
         composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container"),
+        target_container=target_container,
     )
 
     return [load_composable_nodes]
@@ -117,11 +124,13 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "path to the parameter file of random_downsample_filter",
     )
     add_launch_arg("use_intra_process", "true", "use ROS2 component container communication")
+    add_launch_arg("use_pointcloud_container", "True", "use pointcloud container")
     add_launch_arg(
-        "container",
-        "/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container",
+        "pointcloud_container_name",
+        "/pointcloud_container",
         "container name",
     )
+
     add_launch_arg(
         "output/pointcloud",
         "downsample/pointcloud",

launch/tier4_localization_launch/launch/util/util.launch.xml

@@ -6,7 +6,8 @@
   <arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
 
   <!-- container -->
-  <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container" description="container name"/>
+  <arg name="use_pointcloud_container" default="True" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="/pointcloud_container" description="container name"/>
 
   <!-- option -->
   <arg name="use_intra_process" default="true" description="use ROS2 component container communication"/>
@@ -31,7 +32,8 @@
       <arg name="tier4_localization_launch_param_path" value="$(var tier4_localization_launch_param_path)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/pointcloud" value="$(var output/pointcloud)"/>
-      <arg name="container" value="$(var container)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
     </include>
   </group>