From eb509250fb2035a24dbb52b1ccd519519b7cce36 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 22:15:49 +0900
Subject: [PATCH] fix: now works

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/nebula_node_container.launch.py    | 22 ++++---------------
 .../launch/velodyne_VLP16.launch.xml          |  6 ++---
 .../launch/velodyne_VLS128.launch.xml         |  6 ++---
 .../launch/lidar.launch.xml                   |  6 +----
 .../launch/pointcloud_preprocessor.launch.py  |  6 ++---
 5 files changed, 11 insertions(+), 35 deletions(-)

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index a79681b8..6dabce18 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -195,21 +195,14 @@ def create_parameter_dict(*args):
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("lidar_container_name"),
         namespace="pointcloud_preprocessor",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=nodes,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 
-    component_loader = LoadComposableNodes(
-        composable_node_descriptions=nodes,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-
     driver_component = ComposableNode(
         package="nebula_ros",
         plugin=sensor_make + "HwInterfaceRosWrapper",
@@ -238,19 +231,13 @@ def create_parameter_dict(*args):
         ],
     )
 
-    target_container = (
-        container
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("container_name")
-    )
-
     driver_component_loader = LoadComposableNodes(
         composable_node_descriptions=[driver_component],
-        target_container=target_container,
+        target_container=container,
         condition=IfCondition(LaunchConfiguration("launch_driver")),
     )
 
-    return [container, component_loader, driver_component_loader]
+    return [container, driver_component_loader]
 
 
 def generate_launch_description():
@@ -287,8 +274,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     )
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
-    add_launch_arg("use_pointcloud_container", "false")
-    add_launch_arg("container_name", "nebula_node_container")
+    add_launch_arg("lidar_container_name", "nebula_node_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
index 6197bd14..127709f3 100644
--- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -13,8 +13,7 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false"/>
-  <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="lidar_container_name" default="pointcloud_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -32,8 +31,7 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-    <arg name="container_name" value="$(var container_name)"/>
+    <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
index 76c24f22..6098e744 100644
--- a/common_sensor_launch/launch/velodyne_VLS128.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -13,8 +13,7 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false"/>
-  <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="lidar_container_name" default="pointcloud_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -32,8 +31,7 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-    <arg name="container_name" value="$(var container_name)"/>
+    <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/sample_sensor_kit_launch/launch/lidar.launch.xml b/sample_sensor_kit_launch/launch/lidar.launch.xml
index 8ee44365..ff4cf91f 100644
--- a/sample_sensor_kit_launch/launch/lidar.launch.xml
+++ b/sample_sensor_kit_launch/launch/lidar.launch.xml
@@ -21,7 +21,6 @@
         <arg name="scan_phase" value="300.0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
@@ -38,7 +37,6 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
@@ -55,7 +53,6 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
@@ -72,7 +69,6 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
@@ -80,7 +76,7 @@
       <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <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>
diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index 3427b2d4..0c525ed4 100644
--- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -64,9 +64,7 @@ def launch_setup(context, *args, **kwargs):
 
     target_container = (
         container
-        if UnlessCondition(
-            LaunchConfiguration("include_concat_node_in_pointcloud_container")
-        ).evaluate(context)
+        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
         else LaunchConfiguration("pointcloud_container_name")
     )
 
@@ -89,7 +87,7 @@ 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", "False")
-    add_launch_arg("include_concat_node_in_pointcloud_container", "False")
+    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
     add_launch_arg("individual_container_name", "concatenate_container")