From 4aa5352a6adf253e01395d1735c9a25d2e6597c2 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Fri, 19 Jan 2024 10:00:02 +0900
Subject: [PATCH] feat: always separate lidar preprocessing from
 pointcloud_container (#6091)

* feat!: replace use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* feat: remove from planning

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix to remove all use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert: revert change in planning.launch

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert: revert rename of use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix tier4_perception_launch to enable use_pointcloud_contaienr

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix unnecessary change

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix unnecessary change

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* refactor: remove trailing whitespace

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert other changes in perception

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert change in readme

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* feat: move glog to pointcloud_container.launch.py

* revert: revert glog porting

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* style(pre-commit): autofix

* fix: fix pre-commit

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../launch/localization.launch.xml             |  7 ++++---
 .../pose_twist_estimator.launch.xml            |  8 ++++++--
 .../launch/util/util.launch.py                 | 18 ++++--------------
 ...era_lidar_fusion_based_detection.launch.xml |  4 ++--
 ...dar_radar_fusion_based_detection.launch.xml |  4 ++--
 .../detection/detection.launch.xml             | 10 +++++-----
 .../detection/lidar_based_detection.launch.xml |  4 ++--
 .../lidar_radar_based_detection.launch.xml     |  4 ++--
 .../detection/pointcloud_map_filter.launch.py  |  7 ++++---
 .../ground_segmentation.launch.py              |  7 ++++---
 ...probabilistic_occupancy_grid_map.launch.xml |  8 ++++----
 .../launch/perception.launch.xml               |  6 +++---
 ...aserscan_based_occupancy_grid_map.launch.py |  7 ++++---
 ...intcloud_based_occupancy_grid_map.launch.py |  7 ++++---
 .../synchronized_grid_map_fusion.md            |  4 ++--
 15 files changed, 52 insertions(+), 53 deletions(-)

diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
index 3fba4bd773e68..f4d6679291849 100644
--- a/launch/tier4_localization_launch/launch/localization.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -15,14 +15,15 @@
   <arg name="eagleye_param_path"/>
 
   <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud"/>
-  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
 
   <!-- localization module -->
   <group>
     <push-ros-namespace namespace="localization"/>
     <!-- pose_twist_estimator module -->
-    <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml"/>
+    <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml">
+      <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+    </include>
 
     <!-- pose_twist_fusion_filter module -->
     <group>
diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
index 7733b4e3117a1..02c6da20e17da 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
@@ -23,7 +23,9 @@
       <group if="$(var gnss_enabled)">
         <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
       </group>
-      <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
+      <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
+        <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+      </include>
     </group>
   </group>
 
@@ -142,7 +144,9 @@
       <group if="$(var gnss_enabled)">
         <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
       </group>
-      <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
+      <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
+        <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+      </include>
     </group>
   </group>
 </launch>
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py
index 1a34429f438ed..22a45fe7b8530 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.py
+++ b/launch/tier4_localization_launch/launch/util/util.launch.py
@@ -15,8 +15,6 @@
 import launch
 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
@@ -71,16 +69,9 @@ 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(target_container, ""),
         composable_node_descriptions=composable_nodes,
-        target_container=target_container,
+        target_container=LaunchConfiguration("lidar_container_name"),
     )
 
     return [load_composable_nodes]
@@ -115,11 +106,10 @@ 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 ROS 2 component container communication")
-    add_launch_arg("use_pointcloud_container", "True", "use pointcloud container")
     add_launch_arg(
-        "pointcloud_container_name",
-        "/pointcloud_container",
-        "container name",
+        "lidar_container_name",
+        "/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container",
+        "container name of main lidar used for localization",
     )
 
     add_launch_arg(
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index d269144067e0e..4cb648852a03c 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -6,7 +6,7 @@
   <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="container_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="score_threshold" default="0.35"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
@@ -62,7 +62,7 @@
       <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 container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 4838187ef8fbe..ba86bc1e334ff 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -6,7 +6,7 @@
   <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="container_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
@@ -91,7 +91,7 @@
       <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 container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 68d5ea944e6cb..885fa80ed7004 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -8,7 +8,7 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <!-- Camera parameters -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -59,7 +59,7 @@
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
@@ -96,7 +96,7 @@
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
@@ -111,7 +111,7 @@
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
@@ -126,7 +126,7 @@
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 2c8b7d6581c53..04c4264b70e5f 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -6,7 +6,7 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
   <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
@@ -25,7 +25,7 @@
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
index ed37f6270c913..adedc2312677f 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -5,7 +5,7 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
 
   <!-- Radar parameters -->
@@ -23,7 +23,7 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
index 93d395ca3e466..1dcb9cfc90daf 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
@@ -141,7 +141,7 @@ def launch_setup(context, *args, **kwargs):
     components = []
     components.extend(pipeline.create_pipeline())
     individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
@@ -151,7 +151,7 @@ def launch_setup(context, *args, **kwargs):
     )
     pointcloud_container_loader = LoadComposableNodes(
         composable_node_descriptions=components,
-        target_container=LaunchConfiguration("container_name"),
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
     return [individual_container, pointcloud_container_loader]
@@ -168,7 +168,8 @@ def add_launch_arg(name: str, default_value=None):
     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", "pointcloud_map_filter_pipeline_container")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("individual_container_name", "pointcloud_map_filter_container")
     add_launch_arg("use_pointcloud_map", "true")
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index fecdd29bcb7e9..b54172acd4afc 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -511,7 +511,7 @@ def launch_setup(context, *args, **kwargs):
             )
         )
     individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
@@ -521,7 +521,7 @@ def launch_setup(context, *args, **kwargs):
     )
     pointcloud_container_loader = LoadComposableNodes(
         composable_node_descriptions=components,
-        target_container=LaunchConfiguration("container_name"),
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
     return [individual_container, pointcloud_container_loader]
@@ -537,7 +537,8 @@ def add_launch_arg(name: str, default_value=None):
     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")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("individual_container_name", "ground_segmentation_container")
     add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")
 
     set_container_executable = SetLaunchConfiguration(
diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
index 281a52a85af71..244e0940acb70 100644
--- a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
+++ b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
@@ -7,7 +7,7 @@
   <arg name="use_intra_process" default="false"/>
   <arg name="use_multithread" default="false"/>
   <arg name="use_pointcloud_container" default="false"/>
-  <arg name="container_name" default="occupancy_grid_map_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="occupancy_grid_map_method" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map, multi_lidar_pointcloud_based_occupancy_grid_map"/>
   <arg name="occupancy_grid_map_param_path"/>
   <arg name="occupancy_grid_map_updater" description="options: binary_bayes_filter"/>
@@ -24,7 +24,7 @@
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
       <arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
@@ -40,7 +40,7 @@
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
       <arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
@@ -56,7 +56,7 @@
       <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)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="multi_lidar_fusion_config_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
       <arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 4e9f0daafa736..528038c5158b2 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -127,7 +127,7 @@
         <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)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       </include>
     </group>
@@ -142,7 +142,7 @@
         <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)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
         <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
         <arg name="occupancy_grid_map_param_path" value="$(var occupancy_grid_map_param_path)"/>
         <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
@@ -193,7 +193,7 @@
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
           <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-          <arg name="container_name" value="$(var pointcloud_container_name)"/>
+          <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
         </include>
       </group>
diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
index b99335b0e09ef..62cfa4bcb5228 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
@@ -115,7 +115,7 @@ def launch_setup(context, *args, **kwargs):
     ]
 
     occupancy_grid_map_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
@@ -126,7 +126,7 @@ def launch_setup(context, *args, **kwargs):
 
     load_composable_nodes = LoadComposableNodes(
         composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container_name"),
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
@@ -174,7 +174,8 @@ def add_launch_arg(name: str, default_value=None):
             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"),
+            add_launch_arg("pointcloud_container_name", "pointcloud_container"),
+            add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
             set_container_executable,
             set_container_mt_executable,
         ]
diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
index 49bf228905dcc..29435c4ea8e24 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
@@ -64,7 +64,7 @@ def launch_setup(context, *args, **kwargs):
     ]
 
     occupancy_grid_map_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
@@ -75,7 +75,7 @@ def launch_setup(context, *args, **kwargs):
 
     load_composable_nodes = LoadComposableNodes(
         composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container_name"),
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
@@ -103,7 +103,8 @@ def add_launch_arg(name: str, default_value=None):
             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", "occupancy_grid_map_container"),
+            add_launch_arg("pointcloud_container_name", "pointcloud_container"),
+            add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
             add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
             add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"),
             add_launch_arg("output", "occupancy_grid"),
diff --git a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md b/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
index e1046fa24719d..6f4d4e22aa26e 100644
--- a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
+++ b/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
@@ -105,7 +105,7 @@ You need to generate OGMs in each sensor frame before achieving grid map fusion.
     <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)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="method" value="pointcloud_based_occupancy_grid_map"/>
     <arg name="param_file" value="$(find-pkg-share probabilistic_occupancy_grid_map)/config/pointcloud_based_occupancy_grid_map_fusion.param.yaml"/>
 </include>
@@ -146,7 +146,7 @@ You can include this launch file like the following.
   <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)"/>
+  <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   <arg name="method" value="pointcloud_based_occupancy_grid_map"/>
   <arg name="fusion_config_file" value="$(var fusion_config_file)"/>
   <arg name="ogm_config_file" value="$(var ogm_config_file)"/>