From f7ded58899665df63526de645e0c300e406d7270 Mon Sep 17 00:00:00 2001
From: "tomoya.kimura" <tomoya.kimura@tier4.jp>
Date: Wed, 29 Nov 2023 17:06:32 +0900
Subject: [PATCH 1/3] chore(autoware_launch): add localization_input_pointcloud
 argument to autoware.launch

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 autoware_launch/launch/autoware.launch.xml                    | 2 ++
 .../launch/components/tier4_localization_component.launch.xml | 4 ++--
 autoware_launch/launch/logging_simulator.launch.xml           | 4 ++++
 autoware_launch/launch/planning_simulator.launch.xml          | 4 ++++
 4 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 5d98c9388f..8deb82b42a 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -29,6 +29,8 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- Localization -->
+  <arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 5fe0d856d2..de56b6c809 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -3,7 +3,7 @@
   <let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
   <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
   <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
-  <arg name="input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
@@ -12,7 +12,7 @@
       <arg name="pose_source" value="$(var pose_source)"/>
       <arg name="twist_source" value="$(var twist_source)"/>
       <arg name="system_run_mode" value="$(var system_run_mode)"/>
-      <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
+      <arg name="input_pointcloud" value="$(var localization_input_pointcloud)"/>
 
       <!-- parameter paths for common -->
       <arg name="crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/crop_box_filter_measurement_range.param.yaml"/>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 7eb13135d3..d55bc99202 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -25,6 +25,8 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- Localization -->
+  <arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
@@ -63,6 +65,8 @@
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
+      <!-- Localization -->
+      <arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)" />
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
     </include>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index fdc86ebba7..3fa5e005e3 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -10,6 +10,8 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- Localization -->
+  <arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
@@ -54,6 +56,8 @@
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
+      <!-- Localization -->
+      <arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)" />
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>

From 5ba37aeee5b38f832d648968ded4072157874fbb Mon Sep 17 00:00:00 2001
From: "tomoya.kimura" <tomoya.kimura@tier4.jp>
Date: Wed, 29 Nov 2023 17:10:25 +0900
Subject: [PATCH 2/3] chore: add parameter to e2e launch

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 autoware_launch/launch/e2e_simulator.launch.xml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index fe8d1de1d8..f1d5450499 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -19,6 +19,8 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- Localization -->
+  <arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
   <!-- Perception -->
   <arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/>
   <!-- Control -->
@@ -58,6 +60,8 @@
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
+      <!-- Localization -->
+      <arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)" />
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>

From e8bfd8ce26eecda1dc28545ecd53228f856c3712 Mon Sep 17 00:00:00 2001
From: "tomoya.kimura" <tomoya.kimura@tier4.jp>
Date: Wed, 29 Nov 2023 17:14:17 +0900
Subject: [PATCH 3/3] chore: apply pre-commit

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 autoware_launch/launch/e2e_simulator.launch.xml      | 2 +-
 autoware_launch/launch/logging_simulator.launch.xml  | 2 +-
 autoware_launch/launch/planning_simulator.launch.xml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index f1d5450499..f97b9774c6 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -61,7 +61,7 @@
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- Localization -->
-      <arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)" />
+      <arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)"/>
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index d55bc99202..bb453baf34 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -66,7 +66,7 @@
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- Localization -->
-      <arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)" />
+      <arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
     </include>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 3fa5e005e3..1d8e128030 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -57,7 +57,7 @@
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- Localization -->
-      <arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)" />
+      <arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>