From 75d81e226ead153bae89ca2319ea63e8b58bc539 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 18:17:02 +0900
Subject: [PATCH] feat: update aip_x2

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 aip_x2_launch/launch/lidar.launch.xml               |  6 +++---
 .../launch/pointcloud_preprocessor.launch.py        | 13 +++++++------
 aip_x2_launch/launch/sensing.launch.xml             |  4 ++--
 3 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 6f478053..bb874172 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -4,7 +4,7 @@
   <arg name="use_concat_filter" default="true" />
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
   <arg name="vehicle_mirror_param_file" />
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="include_concat_node_in_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
 
@@ -189,8 +189,8 @@
       <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>
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index 4ef586ff..85fcfb19 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -58,19 +58,19 @@ 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
@@ -92,8 +92,9 @@ 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("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",
diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml
index 51614263..e5bd6c41 100644
--- a/aip_x2_launch/launch/sensing.launch.xml
+++ b/aip_x2_launch/launch/sensing.launch.xml
@@ -2,7 +2,7 @@
 
   <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="include concat node in pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
@@ -12,7 +12,7 @@
     <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="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>