fix: revert use pointcloud container

tier4 · Apr 7, 2022 · f62e610 · f62e610
1 parent a356205
commit f62e610
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Showing 5 changed files with 13 additions and 52 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -63,10 +63,7 @@
 
   <!-- Localization -->
   <group>
-    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml">
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    </include>
+    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml"/>
   </group>
 
   <!-- Perception -->

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -79,10 +79,7 @@
 
   <!-- Localization -->
   <group>
-    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" if="$(var localization)">
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    </include>
+    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" if="$(var localization)"/>
   </group>
 
   <!-- Perception -->

diff --git a/localization_launch/launch/localization.launch.xml b/localization_launch/launch/localization.launch.xml
@@ -1,8 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="input/pointcloud" default="/sensing/lidar/pointcloud" description="The topic will be used in the localization util module" />
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="container_name" default="pointcloud_container"/>
 
   <!-- localization module -->
   <group>
@@ -12,8 +11,7 @@
       <push-ros-namespace namespace="util"/>
       <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)" />
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="container_name" value="$(var container_name)"/>
       </include>
     </group>
     <!-- pose_estimator module -->

diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py
@@ -15,11 +15,8 @@
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
+from launch.conditions import LaunchConfigurationNotEquals
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 from launch_ros.substitutions import FindPackageShare
@@ -74,21 +71,13 @@ def load_composable_node_param(param_path):
         random_downsample_component,
     ]
 
-    individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
+    load_composable_nodes = LoadComposableNodes(
+        condition=LaunchConfigurationNotEquals("container", ""),
         composable_node_descriptions=composable_nodes,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
+        target_container=LaunchConfiguration("container"),
     )
-    pointcloud_container_loader = LoadComposableNodes(
-        composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-    return [individual_container, pointcloud_container_loader]
+
+    return [load_composable_nodes]
 
 
 def generate_launch_description():
@@ -117,8 +106,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "path to the parameter file of random_downsample_filter",
     )
     add_launch_arg("use_intra_process", "true", "use ROS2 component container communication")
-    add_launch_arg("use_multithread", "False")
-    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("container_name", "pointcloud_container")
 
     add_launch_arg(
@@ -127,20 +114,4 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "final output topic name",
     )
 
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    return launch.LaunchDescription(
-        launch_arguments
-        + [set_container_executable, set_container_mt_executable]
-        + [OpaqueFunction(function=launch_setup)]
-    )
+    return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])
diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml
@@ -2,9 +2,8 @@
 <launch>
 
   <arg name="input/pointcloud" description="input topic name"/>
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
+  <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_intra_process" default="true" description="use ROS2 component container communication"/>
 
   <!-- pose_initializer -->
@@ -14,8 +13,7 @@
   <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.py">
     <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
     <arg name="output/pointcloud" value="$(var output/pointcloud)"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
-    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="container_name" value="$(var container_name)"/>
     <arg name="use_intra_process" value="$(var use_intra_process)"/>
   </include>