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feat: remove use_pointcloud_container (tier4#200)
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* feat: remove use_pointcloud_container

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

* fix: remove unnecessary import

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

---------

Signed-off-by: kminoda <[email protected]>
Co-authored-by: Shunsuke Miura <[email protected]>
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kminoda and miursh authored Feb 8, 2024
1 parent 6c5840e commit d5c5822
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Showing 9 changed files with 6 additions and 77 deletions.
2 changes: 0 additions & 2 deletions aip_x1_launch/launch/lidar.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
<arg name="use_concat_filter" default="true" />
<arg name="use_radius_search" default="false" />
<arg name="vehicle_mirror_param_file" />
<arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>

<!-- x1 additional setting -->
Expand Down Expand Up @@ -57,7 +56,6 @@
<arg name="base_frame" value="base_link" />
<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 pointcloud_container_name)"/>
</include>

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24 changes: 2 additions & 22 deletions aip_x1_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,6 @@
from launch.conditions import IfCondition
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode

Expand Down Expand Up @@ -50,30 +49,13 @@ def launch_setup(context, *args, **kwargs):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

# set container to run all required components in the same process
container = ComposableNodeContainer(
name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
composable_node_descriptions=[],
condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
output="screen",
)

target_container = (
container
if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
else LaunchConfiguration("pointcloud_container_name")
)

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
target_container=target_container,
target_container=LaunchConfiguration("pointcloud_container_name"),
)

return [container, concat_loader]
return [concat_loader]


def generate_launch_description():
Expand All @@ -85,9 +67,7 @@ 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("use_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",
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2 changes: 0 additions & 2 deletions aip_x1_launch/launch/sensing.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@

<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="pointcloud_container_name" default="pointcloud_container"/>
<arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />

Expand All @@ -12,7 +11,6 @@
<include file="$(find-pkg-share aip_x1_launch)/launch/lidar.launch.xml">
<arg name="launch_driver" value="$(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="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>

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2 changes: 0 additions & 2 deletions aip_x2_launch/launch/lidar.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
<arg name="use_concat_filter" default="true" />
<arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
<arg name="vehicle_mirror_param_file" />
<arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>

Expand Down Expand Up @@ -189,7 +188,6 @@
<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="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>

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24 changes: 2 additions & 22 deletions aip_x2_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,6 @@
from launch.conditions import IfCondition
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode

Expand Down Expand Up @@ -56,31 +55,14 @@ def launch_setup(context, *args, **kwargs):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

# set container to run all required components in the same process
container = ComposableNodeContainer(
name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
composable_node_descriptions=[],
condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
output="screen",
)

target_container = (
container
if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
else LaunchConfiguration("pointcloud_container_name")
)

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
target_container=target_container,
target_container=LaunchConfiguration("pointcloud_container_name"),
condition=IfCondition(LaunchConfiguration("use_concat_filter")),
)

return [container, concat_loader]
return [concat_loader]


def generate_launch_description():
Expand All @@ -92,9 +74,7 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("base_frame", "base_link")
add_launch_arg("use_multithread", "True")
add_launch_arg("use_intra_process", "True")
add_launch_arg("use_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",
Expand Down
2 changes: 0 additions & 2 deletions aip_x2_launch/launch/sensing.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@

<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="pointcloud_container_name" default="pointcloud_container"/>
<arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />

Expand All @@ -12,7 +11,6 @@
<include file="$(find-pkg-share aip_x2_launch)/launch/lidar.launch.xml">
<arg name="launch_driver" value="$(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="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>

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2 changes: 0 additions & 2 deletions aip_xx1_launch/launch/lidar.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,6 @@
<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="pointcloud_container_name" default="pointcloud_container"/>

<group>
Expand Down Expand Up @@ -101,7 +100,6 @@
<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="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>

Expand Down
23 changes: 2 additions & 21 deletions aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,6 @@
from launch.conditions import IfCondition
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode

Expand Down Expand Up @@ -57,30 +56,14 @@ def launch_setup(context, *args, **kwargs):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

# set container to run all required components in the same process
container = ComposableNodeContainer(
name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
output="screen",
)

target_container = (
container
if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
else LaunchConfiguration("pointcloud_container_name")
)

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
target_container=target_container,
target_container=LaunchConfiguration("pointcloud_container_name"),
condition=IfCondition(LaunchConfiguration("use_concat_filter")),
)

return [container, concat_loader]
return [concat_loader]


def generate_launch_description():
Expand All @@ -92,9 +75,7 @@ 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("use_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",
Expand Down
2 changes: 0 additions & 2 deletions aip_xx1_launch/launch/sensing.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@
<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="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_fusion, lidar, camera"/>
<arg name="use_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)" />

Expand All @@ -13,7 +12,6 @@
<include file="$(find-pkg-share aip_xx1_launch)/launch/lidar.launch.xml">
<arg name="launch_driver" value="$(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="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>

Expand Down

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