use component launch in sample launch

Signed-off-by: kminoda <koji.minoda@tier4.jp>
autowarefoundation · Nov 6, 2023 · 02fc409 · 02fc409
1 parent 7aad6d9
commit 02fc409
Showing 1 changed file with 17 additions and 15 deletions.
diff --git a/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml b/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
@@ -16,19 +16,21 @@
 
   <arg name="node_name" default="ndt_scan_matcher" description="Use a different name for this node"/>
 
-  <node pkg="ndt_scan_matcher" exec="ndt_scan_matcher" name="$(var node_name)" output="log">
-    <remap from="points_raw" to="$(var input/pointcloud)"/>
-
-    <remap from="ekf_pose_with_covariance" to="$(var input_initial_pose_topic)"/>
-    <remap from="pointcloud_map" to="$(var input_map_points_topic)"/>
-
-    <remap from="ndt_pose" to="$(var output_pose_topic)"/>
-    <remap from="ndt_pose_with_covariance" to="$(var output_pose_with_covariance_topic)"/>
-    <remap from="regularization_pose_with_covariance" to="$(var input_regularization_pose_topic)"/>
-    <remap from="trigger_node_srv" to="$(var input_service_trigger_node)"/>
-    <remap from="pcd_loader_service" to="$(var client_map_loader)"/>
-    <remap from="ekf_odom" to="$(var input_ekf_odom)"/>
-
-    <param from="$(var param_file)"/>
-  </node>
+  <node_container pkg="rclcpp_components" exec="component_container_mt" name="ndt_scan_matcher_container" namespace="">
+    <composable_node pkg="ndt_scan_matcher" plugin="NDTScanMatcher" name="ndt_scan_matcher" namespace="">
+      <remap from="points_raw" to="$(var input/pointcloud)"/>
+
+      <remap from="ekf_pose_with_covariance" to="$(var input_initial_pose_topic)"/>
+      <remap from="pointcloud_map" to="$(var input_map_points_topic)"/>
+
+      <remap from="ndt_pose" to="$(var output_pose_topic)"/>
+      <remap from="ndt_pose_with_covariance" to="$(var output_pose_with_covariance_topic)"/>
+      <remap from="regularization_pose_with_covariance" to="$(var input_regularization_pose_topic)"/>
+      <remap from="trigger_node_srv" to="$(var input_service_trigger_node)"/>
+      <remap from="pcd_loader_service" to="$(var client_map_loader)"/>
+      <remap from="ekf_odom" to="$(var input_ekf_odom)"/>
+
+      <param from="$(var param_file)"/>
+    </composable_node>
+  </node_container>
 </launch>