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feat(tier4_localization_launch): create a launcher for a node_container of pointcloud preprocessing in the localization component #6500

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feat(tier4_localization_launch): create a launcher for a node_container of pointcloud preprocessing in the localization component #6500

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4 changes: 2 additions & 2 deletions launch/tier4_localization_launch/launch/localization.launch.xml
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Expand Up @@ -18,14 +18,14 @@
<arg name="ar_tag_based_localizer_param_path"/>

<arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud"/>
<arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
<arg name="target_pointcloud_container_name" default="/localization/util/pointcloud_preprocessor/pointcloud_container" description="The name of the container preprocessing the pointcloud"/>

<!-- localization module -->
<group>
<push-ros-namespace namespace="localization"/>
<!-- pose_twist_estimator module -->
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
<arg name="target_pointcloud_container_name" value="$(var target_pointcloud_container_name)"/>
</include>

<!-- pose_twist_fusion_filter module -->
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1 change: 0 additions & 1 deletion launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
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Expand Up @@ -109,7 +109,6 @@
<let name="override_input_pointcloud" value="$(var input_pointcloud)"/>
<let name="override_input_pointcloud" value="$(var input_pointcloud)/relay" if="$(var multi_localizer_mode)"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.xml" if="$(var use_ndt_pose)">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
<arg name="input_pointcloud" value="$(var override_input_pointcloud)"/>
</include>
</group>
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7 changes: 5 additions & 2 deletions launch/tier4_localization_launch/launch/util/util.launch.xml
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Expand Up @@ -3,12 +3,15 @@
<arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>

<!-- container -->
<arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container" description="container name of main lidar used for localization"/>
<arg name="target_pointcloud_container_name" default="/localization/util/pointcloud_preprocessor/pointcloud_container" description="container name of the pointcloud used for localization"/>
<let name="use_existing_pointcloud_container" value="$(eval &quot;'$(var target_pointcloud_container_name)' != '/localization/util/pointcloud_preprocessor/pointcloud_container' &quot;)"/>

<node_container unless="$(var use_existing_pointcloud_container)" pkg="rclcpp_components" exec="component_container" name="pointcloud_container" namespace="pointcloud_preprocessor"/>

<!-- whether use intra-process -->
<arg name="use_intra_process" default="true" description="use ROS 2 component container communication"/>

<load_composable_node target="$(var lidar_container_name)">
<load_composable_node target="$(var target_pointcloud_container_name)">
<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
<param from="$(var ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path)"/>
<remap from="input" to="$(var input_pointcloud)"/>
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