From d5c5822eb659c145790ac2fe2f94363ebfa24fbb Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Thu, 8 Feb 2024 09:02:20 +0900
Subject: [PATCH] feat: remove use_pointcloud_container (#200)

* feat: remove use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: remove unnecessary import

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
---
 aip_x1_launch/launch/lidar.launch.xml         |  2 --
 .../launch/pointcloud_preprocessor.launch.py  | 24 ++-----------------
 aip_x1_launch/launch/sensing.launch.xml       |  2 --
 aip_x2_launch/launch/lidar.launch.xml         |  2 --
 .../launch/pointcloud_preprocessor.launch.py  | 24 ++-----------------
 aip_x2_launch/launch/sensing.launch.xml       |  2 --
 aip_xx1_launch/launch/lidar.launch.xml        |  2 --
 .../launch/pointcloud_preprocessor.launch.py  | 23 ++----------------
 aip_xx1_launch/launch/sensing.launch.xml      |  2 --
 9 files changed, 6 insertions(+), 77 deletions(-)

diff --git a/aip_x1_launch/launch/lidar.launch.xml b/aip_x1_launch/launch/lidar.launch.xml
index a6ceb956..56066df5 100644
--- a/aip_x1_launch/launch/lidar.launch.xml
+++ b/aip_x1_launch/launch/lidar.launch.xml
@@ -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 -->
@@ -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>
 
diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
index 8d9892b0..ff012c8a 100644
--- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -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
 
@@ -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():
@@ -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",
diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml
index a0fbd4b2..1c294fdf 100644
--- a/aip_x1_launch/launch/sensing.launch.xml
+++ b/aip_x1_launch/launch/sensing.launch.xml
@@ -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)" />
 
@@ -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>
 
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index c7e21aa1..a1c8f5f6 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -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"/>
 
@@ -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>
 
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index 6aa031b0..6d435dee 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -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
 
@@ -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():
@@ -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",
diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml
index 51614263..274f6334 100644
--- a/aip_x2_launch/launch/sensing.launch.xml
+++ b/aip_x2_launch/launch/sensing.launch.xml
@@ -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)" />
 
@@ -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>
 
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 0adfe218..417d4972 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -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>
@@ -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>
 
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index e53dfb70..10542a54 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -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
 
@@ -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():
@@ -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",
diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index ba6b935c..2128f30a 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -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)" />
 
@@ -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>