fix(probabilistic_occupancy_grid_map): fix launch config name from ol…

…d one (#6663) fix: fix launch config name from old one Signed-off-by: yoshiri <[email protected]>
autowarefoundation · Mar 23, 2024 · 262ec55 · 262ec55
1 parent 7908a4a
commit 262ec55
Showing 1 changed file with 9 additions and 5 deletions.
diff --git a/...istic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py b/...istic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
@@ -48,7 +48,6 @@ def fusion_config_sanity_check(fusion_config: dict):
     listed_param_names = [
         "raw_pointcloud_topics",
         "fusion_input_ogm_topics",
-        # "each_ogm_sensor_frames",
         "input_ogm_reliabilities",
     ]
     param_length_list = []
@@ -112,7 +111,12 @@ def launch_setup(context, *args, **kwargs):
     gridmap_generation_composable_nodes = []
 
     number_of_nodes = len(fusion_config["raw_pointcloud_topics"])
-    print(number_of_nodes)
+    print(
+        "launching multi_lidar_pointcloud_based occupancy grid map",
+        number_of_nodes,
+        "nodes in the container named",
+        LaunchConfiguration("pointcloud_container_name").perform(context),
+    )
 
     for i in range(number_of_nodes):
         # load parameter file
@@ -151,7 +155,7 @@ def launch_setup(context, *args, **kwargs):
 
     # 3. launch setting
     occupancy_grid_map_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("pointcloud_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
@@ -162,7 +166,7 @@ def launch_setup(context, *args, **kwargs):
 
     load_composable_nodes = LoadComposableNodes(
         composable_node_descriptions=gridmap_generation_composable_nodes + gridmap_fusion_node,
-        target_container=LaunchConfiguration("container_name"),
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
@@ -190,7 +194,7 @@ 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", "occupancy_grid_map_container"),
             add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
             add_launch_arg("output", "occupancy_grid"),
             add_launch_arg(