feat: update aip_xx1

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

aip_xx1_launch/launch/lidar.launch.xml

@@ -5,7 +5,7 @@
   <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"/>
 
   <group>
@@ -40,7 +40,6 @@
         <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>
@@ -58,7 +57,6 @@
         <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>
@@ -76,7 +74,6 @@
         <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>
@@ -105,8 +102,8 @@
       <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="true"/>
-      <arg name="container_name" value="/sensing/lidar/top/pointcloud_preprocessor/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>
 
   </group>

aip_xx1_launch/launch/pointcloud_preprocessor.launch.py

@@ -57,32 +57,25 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    glog_component = ComposableNode(
-        package="glog_component",
-        plugin="GlogComponent",
-        name="glog_component",
-    )
-
     # 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=[glog_component],
-        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
     concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component, glog_component],
+        composable_node_descriptions=[concat_component],
         target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
@@ -99,8 +92,9 @@ 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",

common_sensor_launch/launch/hesai_XT32.launch.xml

@@ -14,7 +14,6 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false"/>
   <arg name="container_name" default="hesai_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
@@ -32,7 +31,6 @@
     <arg name="vehicle_mirror_param_file" value="$(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)"/>
   </include>
 </launch>

common_sensor_launch/launch/nebula_node_container.launch.py

@@ -200,16 +200,9 @@ def create_parameter_dict(*args):
         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():
@@ -287,7 +274,6 @@ 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")
 
     set_container_executable = SetLaunchConfiguration(

common_sensor_launch/launch/velodyne_VLP16.launch.xml

@@ -15,7 +15,6 @@
   <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"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
@@ -34,7 +33,6 @@
     <arg name="vehicle_mirror_param_file" value="$(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)"/>
   </include>
 

common_sensor_launch/launch/velodyne_VLP32C.launch.xml

@@ -15,7 +15,6 @@
   <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"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
@@ -34,7 +33,6 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="false"/>
     <arg name="use_multithread" value="false"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
 

common_sensor_launch/launch/velodyne_VLS128.launch.xml

@@ -15,7 +15,6 @@
   <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"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
@@ -34,7 +33,6 @@
     <arg name="vehicle_mirror_param_file" value="$(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)"/>
   </include>