revert(yolox): introduce condition to use composable container

Signed-off-by: Manato HIRABAYASHI <[email protected]>

edge_auto_jetson_launch/launch/tensorrt_yolox.launch.xml

@@ -7,12 +7,32 @@
   <arg name="yolox_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/yolox.param.yaml"/>
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
   <arg name="camera_id" default="0" />
-
-  <node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox_$(var camera_id)" output="screen">
-    <remap from="~/in/image" to="$(var input/image)"/>
-    <remap from="~/out/objects" to="$(var output/objects)"/>
-    <param from="$(var yolox_param_path)" allow_substs="true"/>
-    <param name="build_only" value="$(var build_only)"/>
-  </node>
+  <arg name="container_name" default="" />
+
+  <let name="empty_container_is_specified" value="$(eval 'not &quot;$(var container_name)&quot;')" />
+  <!-- If container name is not specified,
+       execute function as an individual node  -->
+  <group if="$(var empty_container_is_specified)">
+    <node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox_$(var camera_id)" output="screen">
+      <remap from="~/in/image" to="$(var input/image)"/>
+      <remap from="~/out/objects" to="$(var output/objects)"/>
+      <param from="$(var yolox_param_path)" allow_substs="true"/>
+      <param name="build_only" value="$(var build_only)"/>
+    </node>
+  </group>
+
+  <!-- If container name is specified,
+       execute function as a composable node and load it into the container  -->
+  <group unless= "$(var empty_container_is_specified)">
+    <load_composable_node target="$(var container_name)">
+      <composable_node pkg="autoware_tensorrt_yolox" plugin="autoware::tensorrt_yolox::TrtYoloXNode" name="tensorrt_yolox_$(var camera_id)">
+        <remap from="~/in/image" to="$(var input/image)"/>
+        <remap from="~/out/objects" to="$(var output/objects)"/>
+        <param from="$(var yolox_param_path)" allow_substs="true"/>
+        <param name="build_only" value="$(var build_only)"/>
+        <extra_arg name="use_intra_process_comms" value="true" />
+      </composable_node>
+    </load_composable_node>
+  </group>
 
 </launch>