feat: always separate lidar preprocessing from pointcloud_container (#…

…796)

* feat!: replace use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* change default value

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* remove from planning

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert: revert change in planning.launch

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert: revert rename of use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert: revert pointcloud_container launch

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* style(pre-commit): autofix

* feat: move glog to pointcloud_container.launch.py

* revert: revert unnecessary change

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert: revert glog porting

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix comment in localization launch

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* style(pre-commit): autofix

* remove pointcloud_container_name from localization launcher

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -4,15 +4,19 @@
   <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/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg
+    name="lidar_container_name"
+    default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
+    description="The target container to which lidar preprocessing nodes in localization be attached"
+  />
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="pose_source" value="$(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="$(var input_pointcloud)"/>
+      <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
 
       <!-- 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"/>

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -13,7 +13,6 @@
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>