From 1b45a7e670029a470eed1cb9b95ab8901fbc32c5 Mon Sep 17 00:00:00 2001
From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com>
Date: Mon, 4 Mar 2024 18:12:14 +0900
Subject: [PATCH] feat(tier4_localization_launch):  change the default input
 pointcloud of localization into the concatenated pointcloud (#6528)

refactor lacun argument lidar_container_name to localization_pointcloud_container_name

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
---
 .../launch/localization.launch.xml                          | 6 +++---
 .../pose_twist_estimator/pose_twist_estimator.launch.xml    | 2 +-
 .../tier4_localization_launch/launch/util/util.launch.xml   | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
index 9d3fba05b4a6e..7f2f446ae1bee 100644
--- a/launch/tier4_localization_launch/launch/localization.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -17,15 +17,15 @@
   <arg name="eagleye_param_path"/>
   <arg name="ar_tag_based_localizer_param_path"/>
 
-  <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud"/>
-  <arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
+  <arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud"/>
+  <arg name="localization_pointcloud_container_name" default="/pointcloud_container"/>
 
   <!-- localization module -->
   <group>
     <push-ros-namespace namespace="localization"/>
     <!-- pose_twist_estimator module -->
     <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml">
-      <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+      <arg name="localization_pointcloud_container_name" value="$(var localization_pointcloud_container_name)"/>
     </include>
 
     <!-- pose_twist_fusion_filter module -->
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 c00c90d467090..3042774d16fd3 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
@@ -109,7 +109,7 @@
     <let name="override_input_pointcloud" value="$(var input_pointcloud)"/>
     <let name="override_input_pointcloud" value="$(var input_pointcloud)/relay" if="$(var multi_localizer_mode)"/>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.xml" if="$(var use_ndt_pose)">
-      <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+      <arg name="localization_pointcloud_container_name" value="$(var localization_pointcloud_container_name)"/>
       <arg name="input_pointcloud" value="$(var override_input_pointcloud)"/>
     </include>
   </group>
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.xml b/launch/tier4_localization_launch/launch/util/util.launch.xml
index aeba276308646..63dac42f2063e 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.xml
+++ b/launch/tier4_localization_launch/launch/util/util.launch.xml
@@ -3,12 +3,12 @@
   <arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
 
   <!-- container -->
-  <arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container" description="container name of main lidar used for localization"/>
+  <arg name="localization_pointcloud_container_name" default="/pointcloud_container" description="container name of main lidar used for localization"/>
 
   <!-- whether use intra-process -->
   <arg name="use_intra_process" default="true" description="use ROS 2 component container communication"/>
 
-  <load_composable_node target="$(var lidar_container_name)">
+  <load_composable_node target="$(var localization_pointcloud_container_name)">
     <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
       <param from="$(var ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path)"/>
       <remap from="input" to="$(var input_pointcloud)"/>