feat!: replace use_pointcloud_container

Signed-off-by: kminoda <[email protected]>

sample_sensor_kit_launch/launch/lidar.launch.xml

@@ -4,7 +4,7 @@
   <arg name="use_concat_filter" default="true"/>
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="include_concat_node_in_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <group>
@@ -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="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
@@ -39,7 +38,6 @@
         <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="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
@@ -57,7 +55,6 @@
         <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="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
@@ -75,7 +72,6 @@
         <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="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
@@ -84,8 +80,8 @@
       <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="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>
 </launch>

sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py

@@ -51,19 +51,19 @@ def launch_setup(context, *args, **kwargs):
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[],
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        condition=UnlessCondition(LaunchConfiguration("include_concat_node_in_pointcloud_container")),
         output="screen",
     )
 
     target_container = (
         container
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("container_name")
+        if UnlessCondition(LaunchConfiguration("include_concat_node_in_pointcloud_container")).evaluate(context)
+        else LaunchConfiguration("pointcloud_container_name")
     )
 
     # load concat or passthrough filter
@@ -85,8 +85,9 @@ 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", "False")
-    add_launch_arg("use_pointcloud_container", "False")
-    add_launch_arg("container_name", "pointcloud_preprocessor_container")
+    add_launch_arg("include_concat_node_in_pointcloud_container", "False")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("individual_container_name", "concatenate_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

sample_sensor_kit_launch/launch/sensing.launch.xml

@@ -1,7 +1,7 @@
 <launch>
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="vehicle_mirror_param_file" 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="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>
 
@@ -10,7 +10,7 @@
     <include file="$(find-pkg-share sample_sensor_kit_launch)/launch/lidar.launch.xml">
       <arg name="launch_driver" value="$(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>