From ab9d6309ef97684b3c10fe00612129101a2ad747 Mon Sep 17 00:00:00 2001
From: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
Date: Mon, 9 Sep 2024 23:29:02 +0900
Subject: [PATCH] revert(bytetrack): introduce condition to use composable
 container

Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
---
 .../launch/bytetrack.launch.xml               | 36 +++++++++++++++----
 1 file changed, 30 insertions(+), 6 deletions(-)

diff --git a/edge_auto_jetson_launch/launch/bytetrack.launch.xml b/edge_auto_jetson_launch/launch/bytetrack.launch.xml
index d5875e0..f66dbf4 100755
--- a/edge_auto_jetson_launch/launch/bytetrack.launch.xml
+++ b/edge_auto_jetson_launch/launch/bytetrack.launch.xml
@@ -7,18 +7,42 @@
   <arg name="bytetrack_visualizer_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/bytetrack_visualizer.param.yaml"/>
   <arg name="enable_visualizer" default="true"/>
   <arg name="camera_id" default="0" />
+  <arg name="container_name" default="" />
 
-  <node pkg="autoware_bytetrack" exec="bytetrack_node_exe" output="screen" name="bytetrack_node_exe_$(var camera_id)">
-    <remap from="~/in/rect" to="$(var input/objects)"/>
-    <remap from="~/out/objects" to="$(var output/objects)"/>
-    <remap from="~/out/objects/debug/uuid" to="$(var output/objects)/debug/uuid"/>
-    <param from="$(var bytetrack_param_path)"/>
-  </node>
+  <let name="empty_container_is_specified" value="$(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_bytetrack" exec="bytetrack_node_exe" output="screen" name="bytetrack_node_exe_$(var camera_id)">
+      <remap from="~/in/rect" to="$(var input/objects)"/>
+      <remap from="~/out/objects" to="$(var output/objects)"/>
+      <remap from="~/out/objects/debug/uuid" to="$(var output/objects)/debug/uuid"/>
+      <param from="$(var bytetrack_param_path)"/>
+    </node>
+  </group>
+
+  <!-- If container name is specified,
+       execute function as a composable node and load it into the container  -->
+  <group unless= "$(var empty_container_is_specified)">
+    <load_composable_node target="$(var container_name)">
+      <composable_node pkg="autoware_bytetrack" plugin="autoware::bytetrack::ByteTrackNode" name="bytetrack$(var camera_id)">
+        <remap from="~/in/rect" to="$(var input/objects)"/>
+        <remap from="~/out/objects" to="$(var output/objects)"/>
+        <remap from="~/out/objects/debug/uuid" to="$(var output/objects)/debug/uuid"/>
+        <param from="$(var bytetrack_param_path)"/>
+        <extra_arg name="use_intra_process_comms" value="true"/>
+      </composable_node>
+    </load_composable_node>
+  </group>
 
   <node pkg="autoware_bytetrack" exec="bytetrack_visualizer_node_exe" output="screen" if="$(var enable_visualizer)" name="bytetrack_visualizer_node_exe_$(var camera_id)">
     <remap from="~/in/image" to="$(var input/image)"/>
     <remap from="~/in/rect" to="$(var output/objects)"/>
     <remap from="~/in/uuid" to="$(var output/objects)/debug/uuid"/>
+    <remap from="~/out/image" to="$(var output/objects)/debug/image"/>
+    <remap from="~/out/image/compressed" to="$(var output/objects)/debug/image/compressed"/>
+    <remap from="~/out/image/compressedDepth" to="$(var output/objects)/debug/image/compressedDepth"/>
+    <remap from="~/out/image/theora" to="$(var output/objects)/debug/image/theora"/>
     <param from="$(var bytetrack_visualizer_param_path)"/>
   </node>