From 83516517f7012e5cf191347ae46763c373b4ec3a Mon Sep 17 00:00:00 2001
From: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
Date: Mon, 9 Sep 2024 23:29:33 +0900
Subject: [PATCH] fix(image_transport_decompressor): treat autoware prefix

Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
---
 .../config/image_transport_decompressor.param.yaml         | 3 +++
 .../launch/image_transport_decompressor.launch.xml         | 7 +++++--
 2 files changed, 8 insertions(+), 2 deletions(-)
 create mode 100644 edge_auto_jetson_launch/config/image_transport_decompressor.param.yaml

diff --git a/edge_auto_jetson_launch/config/image_transport_decompressor.param.yaml b/edge_auto_jetson_launch/config/image_transport_decompressor.param.yaml
new file mode 100644
index 0000000..05b0f0b
--- /dev/null
+++ b/edge_auto_jetson_launch/config/image_transport_decompressor.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    encoding: default
diff --git a/edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml b/edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml
index ae76a17..c683270 100644
--- a/edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml
+++ b/edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml
@@ -9,14 +9,16 @@
   <!-- flag to use ROS2 intra process -->
   <arg name="use_intra_process" default="True" />
 
+  <arg name="image_transport_decompressor_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/image_transport_decompressor.param.yaml"/>
 
   <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="$(var empty_container_is_specified)">
-    <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor">
+    <node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor">
       <remap from="~/input/compressed_image" to="$(var input/compressed_image)" />
       <remap from="~/output/raw_image" to="$(var output/raw_image)" />
+      <param from="$(var image_transport_decompressor_param_path)"/>
     </node>
   </group>
 
@@ -24,9 +26,10 @@
        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="image_transport_decompressor" plugin="image_preprocessor::ImageTransportDecompressor" name="image_transport_decompressor">
+      <composable_node pkg="autoware_image_transport_decompressor" plugin="autoware::image_preprocessor::ImageTransportDecompressor" name="image_transport_decompressor">
         <remap from="~/input/compressed_image" to="$(var input/compressed_image)" />
         <remap from="~/output/raw_image" to="$(var output/raw_image)" />
+	      <param from="$(var image_transport_decompressor_param_path)"/>
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" />
       </composable_node>
     </load_composable_node>