feat!: remove use_pointcloud_container

Signed-off-by: kminoda <[email protected]>
autowarefoundation · Jan 19, 2024 · 478bc6a · 478bc6a
1 parent 71a0a3e
commit 478bc6a
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Showing 8 changed files with 1,018 additions and 13 deletions.
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
diff --git a/.vscode/settings.json b/.vscode/settings.json
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -4,7 +4,6 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
-  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
@@ -54,12 +53,10 @@
   </group>
 
   <!-- Pointcloud container -->
-  <group if="$(var use_pointcloud_container)">
-    <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
-      <arg name="use_multithread" value="true"/>
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
-    </include>
-  </group>
+  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
+    <arg name="use_multithread" value="true"/>
+    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+  </include>
 
   <!-- Vehicle -->
   <group if="$(var launch_vehicle)">

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -6,7 +6,6 @@
 
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
 
     <!-- common -->

diff --git a/autoware_launch/launch/components/tier4_sensing_component.launch.xml b/autoware_launch/launch/components/tier4_sensing_component.launch.xml
@@ -5,7 +5,6 @@
     <arg name="sensor_model" value="$(var sensor_model)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -21,7 +21,6 @@
   <arg name="planning" default="true" description="launch planning"/>
   <arg name="control" default="true" description="launch control"/>
   <!-- Pointcloud container -->
-  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
@@ -55,7 +54,6 @@
       <!-- Global parameters -->
       <arg name="use_sim_time" value="true"/>
       <!-- Pointcloud container -->
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <!-- Vehicle -->
       <arg name="vehicle_id" value="$(var vehicle_id)"/>

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -48,8 +48,6 @@
       <arg name="launch_sensing" value="false"/>
       <arg name="launch_localization" value="false"/>
       <arg name="launch_perception" value="false"/>
-      <!-- Pointcloud container -->
-      <arg name="use_pointcloud_container" value="false"/>
       <!-- Vehicle -->
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- System -->

diff --git a/kminoda_autoware.log b/kminoda_autoware.log
@@ -0,0 +1,7 @@
+vehicle name is sample
+vehicle_model: sample_vehicle
+sensor_model: sample_sensor_kit
+map_path: /home/minoda/data/maps/sample-map-rosbag
+[INFO] [launch]: All log files can be found below /home/minoda/.ros/log/2024-01-17-10-20-42-728662-dpc2108003-ubuntu-1371342
+[INFO] [launch]: Default logging verbosity is set to INFO
+[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)