From fdf60d67236daa0d2c137d7d3cacc25ec924f068 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 30 Jan 2024 14:48:00 +0900
Subject: [PATCH 01/13] feat(lidar_centerpoint,image_projection_based_fusion):
 add pointcloud_container option

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../detector/camera_lidar_detector.launch.xml |  3 +
 .../detector/lidar_dnn_detector.launch.xml    |  3 +
 .../launch/perception.launch.xml              |  2 +-
 .../launch/pointpainting_fusion.launch.xml    | 51 ++++++++++++++++-
 .../detection_class_remapper.param.yaml       |  6 +-
 .../launch/lidar_centerpoint.launch.xml       | 57 +++++++++++++------
 6 files changed, 101 insertions(+), 21 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 1c9201a9af8b3..2232feb6d7c67 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -85,6 +85,9 @@
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
       <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index 1a97659b357d8..5b5fabd4dd886 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -22,6 +22,9 @@
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
         <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
   </group>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index e8c19382864ba..f1d0512d0d69e 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -43,7 +43,7 @@
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="lidar_detection_model" default="pointpainting" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
   <arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index 33781461fa1cc..952a43afcbb12 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -26,6 +26,9 @@
   <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
   <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
 
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>
+
   <!-- for eval variable-->
   <arg name="input_rois_number" default="$(var input/rois_number)"/>
 
@@ -38,7 +41,53 @@
   <arg name="input/image5" default="/image_raw5"/>
   <arg name="input/image6" default="/image_raw6"/>
   <arg name="input/image7" default="/image_raw7"/>
-  <group>
+
+  <group if="$(var use_pointcloud_container)">
+    <load_composable_node target="$(var pointcloud_container_name)">
+      <composable_node pkg="image_projection_based_fusion" plugin="image_projection_based_fusion::PointPaintingFusionNode" name="pointpainting" namespace="pointpainting">
+        <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
+        <remap from="~/output/objects" to="$(var output/objects)"/>
+        <param name="trt_precision" value="fp16"/>
+        <param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
+        <param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
+        <param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
+        <param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
+        <param from="$(var model_param_path)"/>
+        <param from="$(var sync_param_path)"/>
+        <param from="$(var class_remapper_param_path)"/>
+        <param name="rois_number" value="$(var input/rois_number)"/>
+        <param name="build_only" value="$(var build_only)"/>
+
+        <!-- rois, camera and info -->
+        <param name="input/rois0" value="$(var input/rois0)"/>
+        <param name="input/camera_info0" value="$(var input/camera_info0)"/>
+        <param name="input/image0" value="$(var input/image0)"/>
+        <param name="input/rois1" value="$(var input/rois1)"/>
+        <param name="input/camera_info1" value="$(var input/camera_info1)"/>
+        <param name="input/image1" value="$(var input/image1)"/>
+        <param name="input/rois2" value="$(var input/rois2)"/>
+        <param name="input/camera_info2" value="$(var input/camera_info2)"/>
+        <param name="input/image2" value="$(var input/image2)"/>
+        <param name="input/rois3" value="$(var input/rois3)"/>
+        <param name="input/camera_info3" value="$(var input/camera_info3)"/>
+        <param name="input/image3" value="$(var input/image3)"/>
+        <param name="input/rois4" value="$(var input/rois4)"/>
+        <param name="input/camera_info4" value="$(var input/camera_info4)"/>
+        <param name="input/image4" value="$(var input/image4)"/>
+        <param name="input/rois5" value="$(var input/rois5)"/>
+        <param name="input/camera_info5" value="$(var input/camera_info5)"/>
+        <param name="input/image5" value="$(var input/image5)"/>
+        <param name="input/rois6" value="$(var input/rois6)"/>
+        <param name="input/camera_info6" value="$(var input/camera_info6)"/>
+        <param name="input/image6" value="$(var input/image6)"/>
+        <param name="input/rois7" value="$(var input/rois7)"/>
+        <param name="input/camera_info7" value="$(var input/camera_info7)"/>
+        <param name="input/image7" value="$(var input/image7)"/>
+        <extra_arg name="use_intra_process_comms" value="true"/>
+      </composable_node>
+  </load_composable_node>
+  </group>
+  <group unless="$(var use_pointcloud_container)">
     <node pkg="image_projection_based_fusion" exec="pointpainting_fusion_node" name="pointpainting" output="screen">
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
       <remap from="~/output/objects" to="$(var output/objects)"/>
diff --git a/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml b/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml
index ed378ffa44a70..084748dd97c64 100644
--- a/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml
+++ b/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml
@@ -29,9 +29,9 @@
     max_area_matrix:
       #UNKNOWN, CAR,   TRUCK,  BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
       [ 0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #UNKNOWN
-        0.000,  0.000, 36.000,  0.000,     inf,   0.000,     0.000,   0.000,      #CAR
-        0.000,  0.000,  0.000,  0.000,     inf,   0.000,     0.000,   0.000,      #TRUCK
-        0.000,  0.000,  0.000,  0.000,     inf,   0.000,     0.000,   0.000,      #BUS
+        0.000,  0.000, 36.000,  0.000, 100.000,   0.000,     0.000,   0.000,      #CAR
+        0.000,  0.000,  0.000,  0.000, 100.000,   0.000,     0.000,   0.000,      #TRUCK
+        0.000,  0.000,  0.000,  0.000, 100.000,   0.000,     0.000,   0.000,      #BUS
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #TRAILER
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #BICYCLE
diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index a7f181ab78ac6..b1c1797ffc21e 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -11,20 +11,45 @@
   <arg name="has_twist" default="false"/>
   <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
 
-  <node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
-    <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
-    <remap from="~/output/objects" to="$(var output/objects)"/>
-    <param name="score_threshold" value="$(var score_threshold)"/>
-    <param name="densification_world_frame_id" value="map"/>
-    <param name="densification_num_past_frames" value="1"/>
-    <param name="trt_precision" value="fp16"/>
-    <param name="has_twist" value="$(var has_twist)"/>
-    <param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
-    <param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
-    <param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
-    <param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
-    <param name="build_only" value="$(var build_only)"/>
-    <param from="$(var model_param_path)"/>
-    <param from="$(var class_remapper_param_path)"/>
-  </node>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>
+
+  <group if="$(var use_pointcloud_container)">
+    <load_composable_node target="$(var pointcloud_container_name)">
+      <composable_node pkg="lidar_centerpoint" plugin="centerpoint::LidarCenterPointNode" name="centerpoint">
+        <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
+        <remap from="~/output/objects" to="objects"/>
+        <param name="score_threshold" value="$(var score_threshold)"/>
+        <param name="densification_world_frame_id" value="map"/>
+        <param name="densification_num_past_frames" value="1"/>
+        <param name="trt_precision" value="fp16"/>
+        <param name="has_twist" value="$(var has_twist)"/>
+        <param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
+        <param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
+        <param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
+        <param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
+        <param name="build_only" value="$(var build_only)"/>
+        <param from="$(var model_param_path)"/>
+        <param from="$(var class_remapper_param_path)"/>
+      </composable_node>
+    </load_composable_node>
+  </group>
+  <group unless="$(var use_pointcloud_container)">
+    <node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
+      <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
+      <remap from="~/output/objects" to="objects"/>
+      <param name="score_threshold" value="$(var score_threshold)"/>
+      <param name="densification_world_frame_id" value="map"/>
+      <param name="densification_num_past_frames" value="1"/>
+      <param name="trt_precision" value="fp16"/>
+      <param name="has_twist" value="$(var has_twist)"/>
+      <param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
+      <param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
+      <param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
+      <param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
+      <param name="build_only" value="$(var build_only)"/>
+      <param from="$(var model_param_path)"/>
+      <param from="$(var class_remapper_param_path)"/>
+    </node>
+  </group>
 </launch>

From 50211e55b6c0878d494462ff04d5069a528c4ab4 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 30 Jan 2024 14:48:37 +0900
Subject: [PATCH 02/13] revert lidar_perception_model

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 launch/tier4_perception_launch/launch/perception.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index f1d0512d0d69e..e8c19382864ba 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -43,7 +43,7 @@
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="lidar_detection_model" default="pointpainting" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
   <arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>

From 66110e0521070a4f99ffd4daf603dbbc4f854278 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 30 Jan 2024 05:53:17 +0000
Subject: [PATCH 03/13] style(pre-commit): autofix

---
 .../launch/pointpainting_fusion.launch.xml                      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index 952a43afcbb12..c93e91e48d1c1 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -85,7 +85,7 @@
         <param name="input/image7" value="$(var input/image7)"/>
         <extra_arg name="use_intra_process_comms" value="true"/>
       </composable_node>
-  </load_composable_node>
+    </load_composable_node>
   </group>
   <group unless="$(var use_pointcloud_container)">
     <node pkg="image_projection_based_fusion" exec="pointpainting_fusion_node" name="pointpainting" output="screen">

From ca72a0c40b27a163e6839b08d5c7befb973891be Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 30 Jan 2024 14:59:56 +0900
Subject: [PATCH 04/13] fix: add options

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../detector/lidar_rule_detector.launch.xml          |  3 +++
 .../launch/euclidean_cluster.launch.py               | 12 ++++++++++--
 .../launch/euclidean_cluster.launch.xml              |  5 +++++
 .../voxel_grid_based_euclidean_cluster.launch.py     | 12 ++++++++++--
 .../voxel_grid_based_euclidean_cluster.launch.xml    |  5 +++++
 5 files changed, 33 insertions(+), 4 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
index ce34640bd3179..cec0c3bc05aac 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -26,6 +26,9 @@
         <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
index 66c25396a656e..ac97c9ea33ec6 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
@@ -78,18 +78,24 @@ def load_composable_node_param(param_path):
         output="screen",
     )
 
+    target_container = (
+        LaunchConfiguration("pointcloud_container_name")
+        if LaunchConfiguration("use_pointcloud_container")
+        else container
+    )
+
     use_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[
             low_height_cropbox_filter_component,
             use_low_height_euclidean_component,
         ],
-        target_container=container,
+        target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
     disuse_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[disuse_low_height_euclidean_component],
-        target_container=container,
+        target_container=target_container,
         condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
@@ -106,6 +112,8 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
             add_launch_arg("use_low_height_cropbox", "false"),
+            add_launch_arg("use_pointcloud_container", "false"),
+            add_launch_arg("pointcloud_container_name", "pointcloud_container"),
             add_launch_arg(
                 "euclidean_param_path",
                 [
diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
index fd1ea82befae0..f4deeccf7b76c 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
@@ -5,6 +5,8 @@
   <arg name="output_clusters" default="clusters"/>
   <arg name="use_low_height_cropbox" default="false"/>
   <arg name="euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/euclidean_cluster.param.yaml"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <include file="$(find-pkg-share euclidean_cluster)/launch/euclidean_cluster.launch.py">
     <arg name="input_points_raw_list" value="$(var input_pointcloud)"/>
@@ -12,5 +14,8 @@
     <arg name="output_clusters" value="$(var output_clusters)"/>
     <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     <arg name="euclidean_param_path" value="$(var euclidean_param_path)"/>
+
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 </launch>
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index 00bcd4422bd3c..f4c5829ec6c8d 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -79,18 +79,24 @@ def load_composable_node_param(param_path):
         output="screen",
     )
 
+    target_container = (
+        LaunchConfiguration("pointcloud_container_name")
+        if LaunchConfiguration("use_pointcloud_container")
+        else container
+    )
+
     use_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[
             low_height_cropbox_filter_component,
             use_low_height_euclidean_component,
         ],
-        target_container=container,
+        target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
     disuse_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[disuse_low_height_euclidean_component],
-        target_container=container,
+        target_container=target_container,
         condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
     return [
@@ -110,6 +116,8 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
             add_launch_arg("use_low_height_cropbox", "false"),
+            add_launch_arg("use_pointcloud_container", "false"),
+            add_launch_arg("pointcloud_container_name", "pointcloud_container"),
             add_launch_arg(
                 "voxel_grid_based_euclidean_param_path",
                 [
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
index b6a426dabfd12..3a7c685d8f449 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
@@ -5,6 +5,8 @@
   <arg name="output_clusters" default="clusters"/>
   <arg name="use_low_height_cropbox" default="false"/>
   <arg name="voxel_grid_based_euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid_based_euclidean_cluster.param.yaml"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.py">
     <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
@@ -12,5 +14,8 @@
     <arg name="output_clusters" value="$(var output_clusters)"/>
     <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     <arg name="voxel_grid_based_euclidean_param_path" value="$(var voxel_grid_based_euclidean_param_path)"/>
+
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 </launch>

From 30bac0d336973f34b6ef1314a857f66217f38243 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 30 Jan 2024 15:07:11 +0900
Subject: [PATCH 05/13] fix: fix default param

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../config/detection_class_remapper.param.yaml              | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml b/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml
index 084748dd97c64..baea087c96bca 100644
--- a/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml
+++ b/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml
@@ -29,9 +29,9 @@
     max_area_matrix:
       #UNKNOWN, CAR,   TRUCK,  BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
       [ 0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #UNKNOWN
-        0.000,  0.000, 36.000,  0.000, 100.000,   0.000,     0.000,   0.000,      #CAR
-        0.000,  0.000,  0.000,  0.000, 100.000,   0.000,     0.000,   0.000,      #TRUCK
-        0.000,  0.000,  0.000,  0.000, 100.000,   0.000,     0.000,   0.000,      #BUS
+        0.000,  0.000, 36.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #CAR
+        0.000,  0.000,  0.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #TRUCK
+        0.000,  0.000,  0.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #BUS
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #TRAILER
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #BICYCLE

From eb38c1e04a2ed06a32e53376e9131aec5fe152ed Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 30 Jan 2024 15:10:26 +0900
Subject: [PATCH 06/13] update node name

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../lidar_centerpoint/launch/lidar_centerpoint.launch.xml       | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index b1c1797ffc21e..9e9dcde425ccb 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -16,7 +16,7 @@
 
   <group if="$(var use_pointcloud_container)">
     <load_composable_node target="$(var pointcloud_container_name)">
-      <composable_node pkg="lidar_centerpoint" plugin="centerpoint::LidarCenterPointNode" name="centerpoint">
+      <composable_node pkg="lidar_centerpoint" plugin="centerpoint::LidarCenterPointNode" name="lidar_centerpoint">
         <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
         <remap from="~/output/objects" to="objects"/>
         <param name="score_threshold" value="$(var score_threshold)"/>

From a80f4dea9b2c3006555d72b11b981322b902692b Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 30 Jan 2024 15:23:24 +0900
Subject: [PATCH 07/13] fix: fix IfCondition

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 perception/euclidean_cluster/launch/euclidean_cluster.launch.py | 2 +-
 .../launch/voxel_grid_based_euclidean_cluster.launch.py         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
index ac97c9ea33ec6..7a1ab002336ef 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
@@ -80,7 +80,7 @@ def load_composable_node_param(param_path):
 
     target_container = (
         LaunchConfiguration("pointcloud_container_name")
-        if LaunchConfiguration("use_pointcloud_container")
+        if IfCondition(LaunchConfiguration("use_pointcloud_container"))
         else container
     )
 
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index f4c5829ec6c8d..b82b85362053e 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -81,7 +81,7 @@ def load_composable_node_param(param_path):
 
     target_container = (
         LaunchConfiguration("pointcloud_container_name")
-        if LaunchConfiguration("use_pointcloud_container")
+        if IfCondition(LaunchConfiguration("use_pointcloud_container"))
         else container
     )
 

From 2fba982b599676cf0aa7f545343af862115998f6 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 30 Jan 2024 16:11:08 +0900
Subject: [PATCH 08/13] fix pointpainting namespace

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/pointpainting_fusion.launch.xml                      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index c93e91e48d1c1..db13d73e37fa7 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -44,7 +44,7 @@
 
   <group if="$(var use_pointcloud_container)">
     <load_composable_node target="$(var pointcloud_container_name)">
-      <composable_node pkg="image_projection_based_fusion" plugin="image_projection_based_fusion::PointPaintingFusionNode" name="pointpainting" namespace="pointpainting">
+      <composable_node pkg="image_projection_based_fusion" plugin="image_projection_based_fusion::PointPaintingFusionNode" name="pointpainting">
         <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
         <remap from="~/output/objects" to="$(var output/objects)"/>
         <param name="trt_precision" value="fp16"/>

From 704589bc29a3c04fd69e2022788567ff10c99376 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Wed, 31 Jan 2024 09:23:06 +0900
Subject: [PATCH 09/13] fix: fix launch args

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../lidar_centerpoint/launch/lidar_centerpoint.launch.xml       | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index 9e9dcde425ccb..a7f9fddd858d5 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -18,7 +18,7 @@
     <load_composable_node target="$(var pointcloud_container_name)">
       <composable_node pkg="lidar_centerpoint" plugin="centerpoint::LidarCenterPointNode" name="lidar_centerpoint">
         <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
-        <remap from="~/output/objects" to="objects"/>
+        <remap from="~/output/objects" to="$(var output/objects)"/>
         <param name="score_threshold" value="$(var score_threshold)"/>
         <param name="densification_world_frame_id" value="map"/>
         <param name="densification_num_past_frames" value="1"/>

From a8b0d46a52fc8059ffc73c1eb8fca0545d56c3de Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Wed, 31 Jan 2024 09:44:42 +0900
Subject: [PATCH 10/13] fix(euclidean_cluster): do not launch individual
 container when use_pointcloud_container is true

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 perception/euclidean_cluster/launch/euclidean_cluster.launch.py  | 1 +
 .../launch/voxel_grid_based_euclidean_cluster.launch.py          | 1 +
 2 files changed, 2 insertions(+)

diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
index 7a1ab002336ef..cfbbeb5ea0762 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
@@ -76,6 +76,7 @@ def load_composable_node_param(param_path):
         executable="component_container",
         composable_node_descriptions=[],
         output="screen",
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
     target_container = (
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index b82b85362053e..7df3f701a1433 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -77,6 +77,7 @@ def load_composable_node_param(param_path):
         executable="component_container",
         composable_node_descriptions=[],
         output="screen",
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
     target_container = (

From 24f6e507f117ee07ee6a4088900f132147748411 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Wed, 31 Jan 2024 10:37:43 +0900
Subject: [PATCH 11/13] fix(euclidean_cluster): fix launch condition

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/voxel_grid_based_euclidean_cluster.launch.py         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index 7df3f701a1433..607e1bf30ccaa 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -82,7 +82,7 @@ def load_composable_node_param(param_path):
 
     target_container = (
         LaunchConfiguration("pointcloud_container_name")
-        if IfCondition(LaunchConfiguration("use_pointcloud_container"))
+        if IfCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
         else container
     )
 

From 095e70f1b476e5930f4b5fdf6fbaad2876f07eee Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Wed, 31 Jan 2024 10:37:53 +0900
Subject: [PATCH 12/13] fix(euclidean_cluster): fix launch condition

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 perception/euclidean_cluster/launch/euclidean_cluster.launch.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
index cfbbeb5ea0762..b8d4f61a9cf28 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
@@ -81,7 +81,7 @@ def load_composable_node_param(param_path):
 
     target_container = (
         LaunchConfiguration("pointcloud_container_name")
-        if IfCondition(LaunchConfiguration("use_pointcloud_container"))
+        if IfCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
         else container
     )
 

From 9238f2ccd23100cb9c702eadc1097994e37600d4 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Wed, 31 Jan 2024 23:08:24 +0900
Subject: [PATCH 13/13] Update
 perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
---
 .../lidar_centerpoint/launch/lidar_centerpoint.launch.xml       | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index a7f9fddd858d5..1210875770510 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -37,7 +37,7 @@
   <group unless="$(var use_pointcloud_container)">
     <node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
-      <remap from="~/output/objects" to="objects"/>
+      <remap from="~/output/objects" to="$(var output/objects)"/>
       <param name="score_threshold" value="$(var score_threshold)"/>
       <param name="densification_world_frame_id" value="map"/>
       <param name="densification_num_past_frames" value="1"/>