feat: always separate lidar preprocessing from pointcloud_container (#13

) * feat!: replace use_pointcloud_container Signed-off-by: kminoda <[email protected]> * revert: revert rename of use_pointcloud_container Signed-off-by: kminoda <[email protected]> * revert: fix comment Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]>
tier4 · Jan 19, 2024 · db9ffae · db9ffae
1 parent 89b3dd4
commit db9ffae
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/awsim_sensor_kit_launch/launch/lidar.launch.xml b/awsim_sensor_kit_launch/launch/lidar.launch.xml
@@ -37,7 +37,7 @@
       <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="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
 </launch>
diff --git a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -53,7 +53,7 @@ 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"),
@@ -65,7 +65,7 @@ def launch_setup(context, *args, **kwargs):
     target_container = (
         container
         if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("container_name")
+        else LaunchConfiguration("pointcloud_container_name")
     )
 
     # load concat or passthrough filter
@@ -89,7 +89,8 @@ def add_launch_arg(name: str, default_value=None):
     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("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("individual_container_name", "concatenate_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",