From b1ecc41adfc2d4c0de8de51379e3dbd3b65f4aa8 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 18:01:46 +0900
Subject: [PATCH 01/15] feat!: replace use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/localization.launch.xml                |  7 ++++---
 .../pose_twist_estimator.launch.xml               |  8 ++++++--
 .../launch/util/util.launch.py                    | 15 ++++-----------
 ...camera_lidar_fusion_based_detection.launch.xml |  2 --
 ..._lidar_radar_fusion_based_detection.launch.xml |  2 --
 .../detection/detection.launch.xml                |  5 -----
 .../detection/lidar_based_detection.launch.xml    |  2 --
 .../lidar_radar_based_detection.launch.xml        |  2 --
 .../detection/pointcloud_map_filter.launch.py     | 13 +------------
 .../ground_segmentation.launch.py                 | 12 +-----------
 .../probabilistic_occupancy_grid_map.launch.xml   |  2 --
 .../launch/perception.launch.xml                  |  4 ----
 .../launch/sensing.launch.xml                     |  4 ++--
 .../laserscan_based_occupancy_grid_map.launch.py  | 14 +-------------
 .../pointcloud_based_occupancy_grid_map.launch.py | 14 +-------------
 15 files changed, 20 insertions(+), 86 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..98fc18121dde8 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.py
+++ b/launch/tier4_localization_launch/launch/util/util.launch.py
@@ -71,16 +71,9 @@ 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]
@@ -117,9 +110,9 @@ def add_launch_arg(name: str, default_value=None, description=None):
     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 227aac50d6d90..451ce62776348 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
@@ -10,7 +10,6 @@
   <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"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="remove_unknown" default="true"/>
   <arg name="fusion_distance" default="100.0"/>
@@ -64,7 +63,6 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <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="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
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 65caad54876ff..6ca6ad1c9c71e 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
@@ -12,7 +12,6 @@
   <arg name="lidar_detection_score_threshold" default="0.35"/>
 
   <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="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="remove_unknown" default="true"/>
   <arg name="fusion_distance" default="100.0"/>
@@ -90,7 +89,6 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <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="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
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 0649d8c5d5116..2fc40b2c5a11b 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
@@ -7,7 +7,6 @@
   <arg name="input/pointcloud"/>
   <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"/>
 
   <!-- Camera parameters -->
@@ -63,7 +62,6 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(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="$(var container_name)"/>
       <arg name="remove_unknown" value="$(var remove_unknown)"/>
       <arg name="fusion_distance" value="$(var fusion_distance)"/>
@@ -100,7 +98,6 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <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="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
@@ -115,7 +112,6 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(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="$(var container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
@@ -130,7 +126,6 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <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="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
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..89f86489a7f94 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
@@ -5,7 +5,6 @@
   <arg name="output/objects" default="objects"/>
   <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="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
@@ -24,7 +23,6 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <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="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
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..b6296c4edea6d 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
@@ -4,7 +4,6 @@
   <arg name="input/pointcloud"/>
   <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="lidar_detection_score_threshold" default="0.35"/>
 
@@ -22,7 +21,6 @@
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(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="$(var container_name)"/>
       <arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
     </include>
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..04f1b840192c1 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
@@ -140,21 +140,11 @@ def launch_setup(context, *args, **kwargs):
     pipeline = PointcloudMapFilterPipeline(context)
     components = []
     components.extend(pipeline.create_pipeline())
-    individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=components,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
     pointcloud_container_loader = LoadComposableNodes(
         composable_node_descriptions=components,
         target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
-    return [individual_container, pointcloud_container_loader]
+    return [pointcloud_container_loader]
 
 
 def generate_launch_description():
@@ -167,7 +157,6 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("output_topic", "")
     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("use_pointcloud_map", "true")
     set_container_executable = SetLaunchConfiguration(
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..e306b0be26503 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
@@ -510,21 +510,12 @@ def launch_setup(context, *args, **kwargs):
                 output_topic=pipeline.output_topic,
             )
         )
-    individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=components,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
     pointcloud_container_loader = LoadComposableNodes(
         composable_node_descriptions=components,
         target_container=LaunchConfiguration("container_name"),
         condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
-    return [individual_container, pointcloud_container_loader]
+    return [pointcloud_container_loader]
 
 
 def generate_launch_description():
@@ -536,7 +527,6 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     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("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")
 
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..4fa6d8f6fac76 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
@@ -23,7 +23,6 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(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="$(var container_name)"/>
       <arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
@@ -39,7 +38,6 @@
       <arg name="output" value="$(var output)"/>
       <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="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 1b5753fb4d5c4..229167db435a8 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -71,7 +71,6 @@
     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"/>
   <arg name="objects_filter_method" default="lanelet_filter"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
@@ -125,7 +124,6 @@
         <arg name="base_frame" value="base_link"/>
         <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="input/pointcloud" value="$(var input/pointcloud)"/>
       </include>
@@ -140,7 +138,6 @@
         <arg name="output" value="/perception/occupancy_grid_map/map"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
         <arg name="occupancy_grid_map_param_path" value="$(var occupancy_grid_map_param_path)"/>
@@ -188,7 +185,6 @@
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <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="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="fusion_distance" value="$(var fusion_distance)"/>
diff --git a/launch/tier4_sensing_launch/launch/sensing.launch.xml b/launch/tier4_sensing_launch/launch/sensing.launch.xml
index af9e4481a1430..1f3a46872911d 100644
--- a/launch/tier4_sensing_launch/launch/sensing.launch.xml
+++ b/launch/tier4_sensing_launch/launch/sensing.launch.xml
@@ -2,7 +2,7 @@
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="vehicle_mirror_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_mirror.param.yaml" description="path to the file of vehicle mirror position yaml"/>
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="include_concat_node_in_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
@@ -14,7 +14,7 @@
     <include file="$(var sensor_launch_pkg)/launch/sensing.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)"/>
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </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..dbac65e6ca049 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
@@ -114,23 +114,12 @@ def launch_setup(context, *args, **kwargs):
         ),
     ]
 
-    occupancy_grid_map_container = ComposableNodeContainer(
-        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(
         composable_node_descriptions=composable_nodes,
         target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
-    return [occupancy_grid_map_container, load_composable_nodes]
+    return [load_composable_nodes]
 
 
 def generate_launch_description():
@@ -173,7 +162,6 @@ 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"),
             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..eccc0538b09d2 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
@@ -63,23 +63,12 @@ def launch_setup(context, *args, **kwargs):
         ),
     ]
 
-    occupancy_grid_map_container = ComposableNodeContainer(
-        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(
         composable_node_descriptions=composable_nodes,
         target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
-    return [occupancy_grid_map_container, load_composable_nodes]
+    return [load_composable_nodes]
 
 
 def generate_launch_description():
@@ -102,7 +91,6 @@ 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("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
             add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"),

From 40dcc83304cd12213442930bf87df5d8611db701 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 18:17:34 +0900
Subject: [PATCH 02/15] feat: remove from planning

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../behavior_planning.launch.xml              | 75 ++++++-------------
 1 file changed, 22 insertions(+), 53 deletions(-)

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index 1c7643359c496..18a4110da2249 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -259,59 +259,28 @@
   </node_container>
 
   <group if="$(var launch_compare_map_pipeline)">
-    <group if="$(var use_pointcloud_container)">
-      <!-- use pointcloud container -->
-      <load_composable_node target="$(var pointcloud_container_name)">
-        <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
-          <remap from="kinematic_state" to="/localization/kinematic_state"/>
-          <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
-          <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
-          <remap from="output" to="compare_map_filtered/pointcloud"/>
-          <!-- params -->
-          <param from="$(var compare_map_filter_param_path)"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
+    <!-- use pointcloud container -->
+    <load_composable_node target="$(var pointcloud_container_name)">
+      <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
+        <!-- topic remap -->
+        <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
+        <remap from="kinematic_state" to="/localization/kinematic_state"/>
+        <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
+        <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
+        <remap from="output" to="compare_map_filtered/pointcloud"/>
+        <!-- params -->
+        <param from="$(var compare_map_filter_param_path)"/>
+        <extra_arg name="use_intra_process_comms" value="false"/>
+      </composable_node>
 
-        <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
-          <remap from="input" to="compare_map_filtered/pointcloud"/>
-          <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
-          <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
-      </load_composable_node>
-    </group>
-
-    <group unless="$(var use_pointcloud_container)">
-      <!-- launch new container -->
-      <node_container pkg="rclcpp_components" exec="$(var container_type)" name="compare_map_container" namespace="" args="">
-        <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
-          <remap from="kinematic_state" to="/localization/kinematic_state"/>
-          <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
-          <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
-          <remap from="output" to="compare_map_filtered/pointcloud"/>
-          <!-- params -->
-          <param from="$(var compare_map_filter_param_path)"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
-
-        <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
-          <remap from="input" to="compare_map_filtered/pointcloud"/>
-          <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
-          <!-- params -->
-          <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
-
-        <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
-      </node_container>
-    </group>
+      <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
+        <!-- topic remap -->
+        <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
+        <remap from="input" to="compare_map_filtered/pointcloud"/>
+        <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
+        <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
+        <extra_arg name="use_intra_process_comms" value="false"/>
+      </composable_node>
+    </load_composable_node>
   </group>
 </launch>

From de4d02aec183245e5a71157b072abe070a550211 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 18:18:10 +0900
Subject: [PATCH 03/15] fix: fix to remove all use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 launch/tier4_localization_launch/launch/util/util.launch.py     | 1 -
 .../ground_segmentation/ground_segmentation.launch.py           | 1 -
 .../probabilistic_occupancy_grid_map.launch.xml                 | 2 --
 perception/probabilistic_occupancy_grid_map/README.md           | 1 -
 .../synchronized_grid_map_fusion.md                             | 2 --
 5 files changed, 7 deletions(-)

diff --git a/launch/tier4_localization_launch/launch/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py
index 98fc18121dde8..91214a5d976a2 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.py
+++ b/launch/tier4_localization_launch/launch/util/util.launch.py
@@ -108,7 +108,6 @@ 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(
         "lidar_container_name",
         "/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container",
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 e306b0be26503..1f05328e47762 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
@@ -513,7 +513,6 @@ def launch_setup(context, *args, **kwargs):
     pointcloud_container_loader = LoadComposableNodes(
         composable_node_descriptions=components,
         target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
     return [pointcloud_container_loader]
 
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 4fa6d8f6fac76..78d7461042abc 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
@@ -6,7 +6,6 @@
   <arg name="output" default="/perception/occupancy_grid_map/map"/>
   <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="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"/>
@@ -53,7 +52,6 @@
       <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)"/>
       <arg name="multi_lidar_fusion_config_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/probabilistic_occupancy_grid_map/README.md
index 084c55d80d629..64486a46a34e9 100644
--- a/perception/probabilistic_occupancy_grid_map/README.md
+++ b/perception/probabilistic_occupancy_grid_map/README.md
@@ -67,7 +67,6 @@ Additional argument is shown below:
 | `map_origin`                        | ``                             | parameter to override `map_origin_frame` which means grid map origin                          |
 | `scan_origin`                       | ``                             | parameter to override `scan_origin_frame` which means scanning center                         |
 | `output`                            | `occupancy_grid`               | output name                                                                                   |
-| `use_pointcloud_container`          | `false`                        |                                                                                               |
 | `container_name`                    | `occupancy_grid_map_container` |                                                                                               |
 | `input_obstacle_pointcloud`         | `false`                        | only for laserscan based method. If true, the node subscribe obstacle pointcloud              |
 | `input_obstacle_and_raw_pointcloud` | `true`                         | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud |
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..a110cfcf6e1ac 100644
--- a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
+++ b/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
@@ -104,7 +104,6 @@ You need to generate OGMs in each sensor frame before achieving grid map fusion.
     <arg name="scan_origin" value="velodyne_right"/>
     <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="method" value="pointcloud_based_occupancy_grid_map"/>
     <arg name="param_file" value="$(find-pkg-share probabilistic_occupancy_grid_map)/config/pointcloud_based_occupancy_grid_map_fusion.param.yaml"/>
@@ -145,7 +144,6 @@ You can include this launch file like the following.
   <arg name="output" value="/perception/occupancy_grid_map/fusion/map"/>
   <arg name="use_intra_process" value="true"/>
   <arg name="use_multithread" value="true"/>
-  <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
   <arg name="container_name" value="$(var pointcloud_container_name)"/>
   <arg name="method" value="pointcloud_based_occupancy_grid_map"/>
   <arg name="fusion_config_file" value="$(var fusion_config_file)"/>

From 2849fe7d5bc42d56b1aaaab6f201e7bbaaaa319d Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 19:02:08 +0900
Subject: [PATCH 04/15] revert: revert change in planning.launch

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../behavior_planning.launch.xml              | 75 +++++++++++++------
 1 file changed, 53 insertions(+), 22 deletions(-)

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index 18a4110da2249..1c7643359c496 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -259,28 +259,59 @@
   </node_container>
 
   <group if="$(var launch_compare_map_pipeline)">
-    <!-- use pointcloud container -->
-    <load_composable_node target="$(var pointcloud_container_name)">
-      <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
-        <!-- topic remap -->
-        <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
-        <remap from="kinematic_state" to="/localization/kinematic_state"/>
-        <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
-        <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
-        <remap from="output" to="compare_map_filtered/pointcloud"/>
-        <!-- params -->
-        <param from="$(var compare_map_filter_param_path)"/>
-        <extra_arg name="use_intra_process_comms" value="false"/>
-      </composable_node>
+    <group if="$(var use_pointcloud_container)">
+      <!-- use pointcloud container -->
+      <load_composable_node target="$(var pointcloud_container_name)">
+        <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
+          <!-- topic remap -->
+          <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
+          <remap from="kinematic_state" to="/localization/kinematic_state"/>
+          <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
+          <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
+          <remap from="output" to="compare_map_filtered/pointcloud"/>
+          <!-- params -->
+          <param from="$(var compare_map_filter_param_path)"/>
+          <extra_arg name="use_intra_process_comms" value="false"/>
+        </composable_node>
 
-      <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
-        <!-- topic remap -->
-        <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
-        <remap from="input" to="compare_map_filtered/pointcloud"/>
-        <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
-        <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
-        <extra_arg name="use_intra_process_comms" value="false"/>
-      </composable_node>
-    </load_composable_node>
+        <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
+          <!-- topic remap -->
+          <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
+          <remap from="input" to="compare_map_filtered/pointcloud"/>
+          <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
+          <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
+          <extra_arg name="use_intra_process_comms" value="false"/>
+        </composable_node>
+      </load_composable_node>
+    </group>
+
+    <group unless="$(var use_pointcloud_container)">
+      <!-- launch new container -->
+      <node_container pkg="rclcpp_components" exec="$(var container_type)" name="compare_map_container" namespace="" args="">
+        <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
+          <!-- topic remap -->
+          <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
+          <remap from="kinematic_state" to="/localization/kinematic_state"/>
+          <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
+          <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
+          <remap from="output" to="compare_map_filtered/pointcloud"/>
+          <!-- params -->
+          <param from="$(var compare_map_filter_param_path)"/>
+          <extra_arg name="use_intra_process_comms" value="false"/>
+        </composable_node>
+
+        <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
+          <!-- topic remap -->
+          <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
+          <remap from="input" to="compare_map_filtered/pointcloud"/>
+          <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
+          <!-- params -->
+          <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
+          <extra_arg name="use_intra_process_comms" value="false"/>
+        </composable_node>
+
+        <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+      </node_container>
+    </group>
   </group>
 </launch>

From c8c49558da693ca523ce476700511a1b38281628 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 19:02:28 +0900
Subject: [PATCH 05/15] revert: revert rename of use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 launch/tier4_sensing_launch/launch/sensing.launch.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/tier4_sensing_launch/launch/sensing.launch.xml b/launch/tier4_sensing_launch/launch/sensing.launch.xml
index 1f3a46872911d..80290c92558d4 100644
--- a/launch/tier4_sensing_launch/launch/sensing.launch.xml
+++ b/launch/tier4_sensing_launch/launch/sensing.launch.xml
@@ -2,7 +2,7 @@
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="vehicle_mirror_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_mirror.param.yaml" description="path to the file of vehicle mirror position yaml"/>
-  <arg name="include_concat_node_in_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
@@ -14,7 +14,7 @@
     <include file="$(var sensor_launch_pkg)/launch/sensing.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)"/>
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>

From 6df8d81500699d15cc36f52bc719d14af002d953 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 19:26:35 +0900
Subject: [PATCH 06/15] fix: fix tier4_perception_launch to enable
 use_pointcloud_contaienr

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 ...era_lidar_fusion_based_detection.launch.xml |  6 ++++--
 ...dar_radar_fusion_based_detection.launch.xml |  6 ++++--
 .../detection/detection.launch.xml             | 15 ++++++++++-----
 .../detection/lidar_based_detection.launch.xml |  6 ++++--
 .../lidar_radar_based_detection.launch.xml     |  6 ++++--
 .../detection/pointcloud_map_filter.launch.py  | 18 +++++++++++++++---
 .../ground_segmentation.launch.py              | 18 +++++++++++++++---
 ...probabilistic_occupancy_grid_map.launch.xml | 12 ++++++++----
 .../launch/perception.launch.xml               | 10 +++++++---
 9 files changed, 71 insertions(+), 26 deletions(-)

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 451ce62776348..f4a33571687eb 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 +6,8 @@
   <!-- 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="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <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"/>
@@ -63,7 +64,8 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <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 6ca6ad1c9c71e..9374b5b17af2a 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 +6,8 @@
   <!-- 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="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <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"/>
@@ -89,7 +90,8 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <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 2fc40b2c5a11b..9a6232cdede56 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
@@ -7,7 +7,8 @@
   <arg name="input/pointcloud"/>
   <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="container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <!-- Camera parameters -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -62,7 +63,8 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="remove_unknown" value="$(var remove_unknown)"/>
       <arg name="fusion_distance" value="$(var fusion_distance)"/>
       <arg name="trust_object_distance" value="$(var trust_object_distance)"/>
@@ -98,7 +100,8 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <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)"/>
@@ -112,7 +115,8 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(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="$(var radar_lanelet_filtering_range_param)"/>
@@ -126,7 +130,8 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <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="$(var detection_by_tracker_param_path)"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 89f86489a7f94..04c4264b70e5f 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -5,7 +5,8 @@
   <arg name="output/objects" default="objects"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
   <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
@@ -23,7 +24,8 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(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 b6296c4edea6d..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
@@ -4,7 +4,8 @@
   <arg name="input/pointcloud"/>
   <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="container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
 
   <!-- Radar parameters -->
@@ -21,7 +22,8 @@
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(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 04f1b840192c1..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
@@ -140,11 +140,21 @@ def launch_setup(context, *args, **kwargs):
     pipeline = PointcloudMapFilterPipeline(context)
     components = []
     components.extend(pipeline.create_pipeline())
+    individual_container = ComposableNodeContainer(
+        name=LaunchConfiguration("individual_container_name"),
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=components,
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        output="screen",
+    )
     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 [pointcloud_container_loader]
+    return [individual_container, pointcloud_container_loader]
 
 
 def generate_launch_description():
@@ -157,7 +167,9 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("output_topic", "")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "True")
-    add_launch_arg("container_name", "pointcloud_map_filter_pipeline_container")
+    add_launch_arg("use_pointcloud_container", "False")
+    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 1f05328e47762..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
@@ -510,11 +510,21 @@ def launch_setup(context, *args, **kwargs):
                 output_topic=pipeline.output_topic,
             )
         )
+    individual_container = ComposableNodeContainer(
+        name=LaunchConfiguration("individual_container_name"),
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=components,
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        output="screen",
+    )
     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 [pointcloud_container_loader]
+    return [individual_container, pointcloud_container_loader]
 
 
 def generate_launch_description():
@@ -526,7 +536,9 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "True")
-    add_launch_arg("container_name", "perception_pipeline_container")
+    add_launch_arg("use_pointcloud_container", "False")
+    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 78d7461042abc..135ce32fd03be 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
@@ -6,7 +6,8 @@
   <arg name="output" default="/perception/occupancy_grid_map/map"/>
   <arg name="use_intra_process" default="false"/>
   <arg name="use_multithread" default="false"/>
-  <arg name="container_name" default="occupancy_grid_map_container"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <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"/>
@@ -22,7 +23,8 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_container" default="false"/>
+      <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)"/>
@@ -37,7 +39,8 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_container" default="false"/>
+      <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)"/>
@@ -52,7 +55,8 @@
       <arg name="output" value="/perception/occupancy_grid_map/map"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="use_pointcloud_container" default="false"/>
+      <arg name="pointcloud_container_name" value="$(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="$(var occupancy_grid_map_updater_param_path)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 229167db435a8..27be19d6e77b0 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -71,6 +71,7 @@
     default="false"
     description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
   />
+  <arg name="use_pointcloud_container" default="false"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="objects_filter_method" default="lanelet_filter"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
@@ -124,7 +125,8 @@
         <arg name="base_frame" value="base_link"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_pointcloud_container" default="false"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       </include>
     </group>
@@ -138,7 +140,8 @@
         <arg name="output" value="/perception/occupancy_grid_map/map"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_pointcloud_container" default="false"/>
+        <arg name="pointcloud_container_name" value="$(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="$(var occupancy_grid_map_updater)"/>
@@ -185,7 +188,8 @@
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
-          <arg name="container_name" value="$(var pointcloud_container_name)"/>
+          <arg name="use_pointcloud_container" default="false"/>
+          <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
           <arg name="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="fusion_distance" value="$(var fusion_distance)"/>
           <arg name="trust_object_distance" value="$(var trust_object_distance)"/>

From fa02b1f246c25fed5179b2620dc57b242a123564 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 19:27:46 +0900
Subject: [PATCH 07/15] fix: fix unnecessary change

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../detection/camera_lidar_fusion_based_detection.launch.xml    | 2 +-
 .../camera_lidar_radar_fusion_based_detection.launch.xml        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

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 f4a33571687eb..f2b0edad8ffcb 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
@@ -6,11 +6,11 @@
   <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <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"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="remove_unknown" default="true"/>
   <arg name="fusion_distance" default="100.0"/>
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 9374b5b17af2a..6f2b2f3a4c00e 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
@@ -6,13 +6,13 @@
   <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <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"/>
 
   <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="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="remove_unknown" default="true"/>
   <arg name="fusion_distance" default="100.0"/>

From d4984c5deaa320ea290c00b3d966d06c93e09c31 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 19:29:34 +0900
Subject: [PATCH 08/15] fix: fix unnecessary change

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../probabilistic_occupancy_grid_map.launch.xml             | 6 +++---
 launch/tier4_perception_launch/launch/perception.launch.xml | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

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 135ce32fd03be..ffea6a804b060 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
@@ -23,7 +23,7 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
-      <arg name="use_pointcloud_container" default="false"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>	
       <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="$(var occupancy_grid_map_updater)"/>
@@ -39,7 +39,7 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
-      <arg name="use_pointcloud_container" default="false"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>	
       <arg name="pointcloud_container_name" value="$(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)"/>
@@ -55,7 +55,7 @@
       <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" default="false"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>	
       <arg name="pointcloud_container_name" value="$(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)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 27be19d6e77b0..76850ea3e014d 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -125,7 +125,7 @@
         <arg name="base_frame" value="base_link"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="use_pointcloud_container" default="false"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>	
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       </include>
@@ -140,7 +140,7 @@
         <arg name="output" value="/perception/occupancy_grid_map/map"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="use_pointcloud_container" default="false"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>	
         <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="$(var occupancy_grid_map_param_path)"/>
@@ -188,7 +188,7 @@
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <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" default="false"/>
+          <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>	
           <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
           <arg name="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="fusion_distance" value="$(var fusion_distance)"/>

From d0d4804ad6280a541df92bf8b939f9fec0f229fa Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 19:30:32 +0900
Subject: [PATCH 09/15] refactor: remove trailing whitespace

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../probabilistic_occupancy_grid_map.launch.xml             | 6 +++---
 launch/tier4_perception_launch/launch/perception.launch.xml | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

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 ffea6a804b060..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
@@ -23,7 +23,7 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>	
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(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)"/>
@@ -39,7 +39,7 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>	
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(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)"/>
@@ -55,7 +55,7 @@
       <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="$(var use_pointcloud_container)"/>	
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <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="$(var occupancy_grid_map_updater)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 76850ea3e014d..838a08c687ce5 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -125,7 +125,7 @@
         <arg name="base_frame" value="base_link"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>	
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       </include>
@@ -140,7 +140,7 @@
         <arg name="output" value="/perception/occupancy_grid_map/map"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>	
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="pointcloud_container_name" value="$(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)"/>
@@ -188,7 +188,7 @@
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_height_cropbox" value="$(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="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
           <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
           <arg name="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="fusion_distance" value="$(var fusion_distance)"/>

From 5f131302776e644ea4828811c7ac8881a7d67d2d Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 19:35:56 +0900
Subject: [PATCH 10/15] revert other changes in perception

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/perception.launch.xml              |  2 +-
 .../launch/sensing.launch.xml                 |  2 +-
 .../README.md                                 |  1 +
 ...serscan_based_occupancy_grid_map.launch.py | 20 +++++++++++++++----
 ...ntcloud_based_occupancy_grid_map.launch.py | 19 +++++++++++++++---
 5 files changed, 35 insertions(+), 9 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 838a08c687ce5..9b163ca98210b 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -71,7 +71,7 @@
     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"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="objects_filter_method" default="lanelet_filter"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
diff --git a/launch/tier4_sensing_launch/launch/sensing.launch.xml b/launch/tier4_sensing_launch/launch/sensing.launch.xml
index 80290c92558d4..af9e4481a1430 100644
--- a/launch/tier4_sensing_launch/launch/sensing.launch.xml
+++ b/launch/tier4_sensing_launch/launch/sensing.launch.xml
@@ -2,7 +2,7 @@
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="vehicle_mirror_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_mirror.param.yaml" description="path to the file of vehicle mirror position yaml"/>
-  <arg name="use_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
+  <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)"/>
diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/probabilistic_occupancy_grid_map/README.md
index 64486a46a34e9..084c55d80d629 100644
--- a/perception/probabilistic_occupancy_grid_map/README.md
+++ b/perception/probabilistic_occupancy_grid_map/README.md
@@ -67,6 +67,7 @@ Additional argument is shown below:
 | `map_origin`                        | ``                             | parameter to override `map_origin_frame` which means grid map origin                          |
 | `scan_origin`                       | ``                             | parameter to override `scan_origin_frame` which means scanning center                         |
 | `output`                            | `occupancy_grid`               | output name                                                                                   |
+| `use_pointcloud_container`          | `false`                        |                                                                                               |
 | `container_name`                    | `occupancy_grid_map_container` |                                                                                               |
 | `input_obstacle_pointcloud`         | `false`                        | only for laserscan based method. If true, the node subscribe obstacle pointcloud              |
 | `input_obstacle_and_raw_pointcloud` | `true`                         | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud |
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 dbac65e6ca049..3abe6826fdaa9 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
@@ -114,13 +114,23 @@ def launch_setup(context, *args, **kwargs):
         ),
     ]
 
-    load_composable_nodes = LoadComposableNodes(
+    occupancy_grid_map_container = ComposableNodeContainer(
+        name=LaunchConfiguration("individual_container_name"),
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container_name"),
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        output="screen",
     )
 
-    return [load_composable_nodes]
+    load_composable_nodes = LoadComposableNodes(
+        composable_node_descriptions=composable_nodes,
+        target_container=LaunchConfiguration("pointcloud_container_name"),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
+    )
 
+    return [occupancy_grid_map_container, load_composable_nodes]
 
 def generate_launch_description():
     def add_launch_arg(name: str, default_value=None):
@@ -162,7 +172,9 @@ 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("container_name", "occupancy_grid_map_container"),
+            add_launch_arg("use_pointcloud_container", "false"),
+            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 eccc0538b09d2..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
@@ -63,12 +63,23 @@ def launch_setup(context, *args, **kwargs):
         ),
     ]
 
+    occupancy_grid_map_container = ComposableNodeContainer(
+        name=LaunchConfiguration("individual_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(
         composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container_name"),
+        target_container=LaunchConfiguration("pointcloud_container_name"),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
-    return [load_composable_nodes]
+    return [occupancy_grid_map_container, load_composable_nodes]
 
 
 def generate_launch_description():
@@ -91,7 +102,9 @@ 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("container_name", "occupancy_grid_map_container"),
+            add_launch_arg("use_pointcloud_container", "false"),
+            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"),

From 35cc559d67202db56ba7f7038746c189dd0eba93 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 19:37:00 +0900
Subject: [PATCH 11/15] revert change in readme

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../synchronized_grid_map_fusion.md                         | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

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 a110cfcf6e1ac..6f4d4e22aa26e 100644
--- a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
+++ b/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
@@ -104,7 +104,8 @@ You need to generate OGMs in each sensor frame before achieving grid map fusion.
     <arg name="scan_origin" value="velodyne_right"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
-    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <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>
@@ -144,7 +145,8 @@ You can include this launch file like the following.
   <arg name="output" value="/perception/occupancy_grid_map/fusion/map"/>
   <arg name="use_intra_process" value="true"/>
   <arg name="use_multithread" value="true"/>
-  <arg name="container_name" value="$(var pointcloud_container_name)"/>
+  <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+  <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)"/>

From fb30fb568e89e29c0bca63ba3b724ce0d8723b53 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 19:43:20 +0900
Subject: [PATCH 12/15] feat: move glog to pointcloud_container.launch.py

---
 .../ground_segmentation/ground_segmentation.launch.py     | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

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 b54172acd4afc..66a0bb4d0fb63 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
@@ -474,13 +474,7 @@ def get_single_frame_obstacle_segmentation_concatenated_component(input_topics,
 def launch_setup(context, *args, **kwargs):
     pipeline = GroundSegmentationPipeline(context)
 
-    glog_component = ComposableNode(
-        package="glog_component",
-        plugin="GlogComponent",
-        name="glog_component",
-    )
-
-    components = [glog_component]
+    components = []
     components.extend(
         pipeline.create_single_frame_obstacle_segmentation_components(
             input_topic=LaunchConfiguration("input/pointcloud"),

From ffaa518d403f817c15158c140040fb349c167dbb Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 20:04:24 +0900
Subject: [PATCH 13/15] revert: revert glog porting

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../ground_segmentation/ground_segmentation.launch.py     | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

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 66a0bb4d0fb63..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
@@ -474,7 +474,13 @@ def get_single_frame_obstacle_segmentation_concatenated_component(input_topics,
 def launch_setup(context, *args, **kwargs):
     pipeline = GroundSegmentationPipeline(context)
 
-    components = []
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+    )
+
+    components = [glog_component]
     components.extend(
         pipeline.create_single_frame_obstacle_segmentation_components(
             input_topic=LaunchConfiguration("input/pointcloud"),

From 86838e4931047b647bb3d1bc89863419be9a1c43 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 16 Jan 2024 11:30:45 +0000
Subject: [PATCH 14/15] style(pre-commit): autofix

---
 .../launch/laserscan_based_occupancy_grid_map.launch.py          | 1 +
 1 file changed, 1 insertion(+)

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 3abe6826fdaa9..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
@@ -132,6 +132,7 @@ def launch_setup(context, *args, **kwargs):
 
     return [occupancy_grid_map_container, load_composable_nodes]
 
+
 def generate_launch_description():
     def add_launch_arg(name: str, default_value=None):
         return DeclareLaunchArgument(name, default_value=default_value)

From 7bc683bf7a896e18a1fd440dfddcc2442d542f3e Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 22:55:14 +0900
Subject: [PATCH 15/15] fix: fix pre-commit

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 launch/tier4_localization_launch/launch/util/util.launch.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/launch/tier4_localization_launch/launch/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py
index 91214a5d976a2..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