From db9ffae5c4ae7ab1d0430892eb0844b36cc73897 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Fri, 19 Jan 2024 10:00:31 +0900
Subject: [PATCH] feat: always separate lidar preprocessing from
 pointcloud_container (#13)

* feat!: replace use_pointcloud_container

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

* revert: revert rename of use_pointcloud_container

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

* revert: fix comment

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

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 awsim_sensor_kit_launch/launch/lidar.launch.xml            | 2 +-
 .../launch/pointcloud_preprocessor.launch.py               | 7 ++++---
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/awsim_sensor_kit_launch/launch/lidar.launch.xml b/awsim_sensor_kit_launch/launch/lidar.launch.xml
index 417117c..58abe01 100644
--- 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
index eb1c9a2..456dc27 100644
--- 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",