feat: always separate lidar preprocessing from pointcloud_container (#85

) * feat!: replace use_pointcloud_container Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * fix: now works Signed-off-by: kminoda <[email protected]> * revert: revert unnecessary change Signed-off-by: kminoda <[email protected]> * include_concat_node_in_pointcloud_container to use_pointcloud_container Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * fix arg name Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jan 19, 2024 · a6a7063 · a6a7063
1 parent 5ccd754
commit a6a7063
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Showing 5 changed files with 12 additions and 33 deletions.
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -200,16 +200,9 @@ def create_parameter_dict(*args):
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=nodes,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 
-    component_loader = LoadComposableNodes(
-        composable_node_descriptions=nodes,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-
     driver_component = ComposableNode(
         package="nebula_ros",
         plugin=sensor_make + "HwInterfaceRosWrapper",
@@ -238,19 +231,13 @@ def create_parameter_dict(*args):
         ],
     )
 
-    target_container = (
-        container
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("container_name")
-    )
-
     driver_component_loader = LoadComposableNodes(
         composable_node_descriptions=[driver_component],
-        target_container=target_container,
+        target_container=container,
         condition=IfCondition(LaunchConfiguration("launch_driver")),
     )
 
-    return [container, component_loader, driver_component_loader]
+    return [container, driver_component_loader]
 
 
 def generate_launch_description():
@@ -287,8 +274,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     )
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
-    add_launch_arg("use_pointcloud_container", "false")
-    add_launch_arg("container_name", "nebula_node_container")
+    add_launch_arg("lidar_container_name", "nebula_node_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -13,7 +13,6 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false"/>
   <arg name="container_name" default="velodyne_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
@@ -32,7 +31,6 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
 

diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -13,7 +13,6 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false"/>
   <arg name="container_name" default="velodyne_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
@@ -32,7 +31,6 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <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 container_name)"/>
   </include>
 

diff --git a/sample_sensor_kit_launch/launch/lidar.launch.xml b/sample_sensor_kit_launch/launch/lidar.launch.xml
@@ -21,8 +21,7 @@
         <arg name="scan_phase" value="300.0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
@@ -39,8 +38,7 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
@@ -57,8 +55,7 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
@@ -75,8 +72,7 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
@@ -85,7 +81,7 @@
       <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/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -51,7 +51,7 @@ 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"),
@@ -63,7 +63,7 @@ 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
@@ -86,7 +86,8 @@ 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",