feat: change input pointcloud from outside of launch file

autoware_launch/launch/autoware.launch.xml

@@ -63,7 +63,10 @@
 
   <!-- Localization -->
   <group>
-    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml"/>
+    <include file="$(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>
   </group>
 
   <!-- Perception -->

autoware_launch/launch/logging_simulator.launch.xml

@@ -79,7 +79,10 @@
 
   <!-- Localization -->
   <group>
-    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" if="$(var localization)"/>
+    <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>
   </group>
 
   <!-- Perception -->

localization_launch/launch/localization.launch.xml

@@ -1,12 +1,19 @@
 <?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"/>
+
   <!-- localization module -->
   <group>
     <push-ros-namespace namespace="localization"/>
     <!-- util module -->
     <group>
       <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)"/>
       </include>
     </group>
     <!-- pose_estimator module -->

localization_launch/launch/util/util.launch.py

@@ -15,8 +15,10 @@
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
-from launch.conditions import LaunchConfigurationNotEquals
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
 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
@@ -34,8 +36,8 @@ def load_composable_node_param(param_path):
         plugin="pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_measurement_range",
         remappings=[
-            ("input", LaunchConfiguration("input_sensor_points_topic")),
-            ("output", LaunchConfiguration("output_measurement_range_sensor_points_topic")),
+            ("input", LaunchConfiguration("input/pointcloud")),
+            ("output", "measurement_range/pointcloud"),
         ],
         parameters=[
             load_composable_node_param("crop_box_filter_measurement_range_param_path"),
@@ -47,8 +49,8 @@ def load_composable_node_param(param_path):
         plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
         name="voxel_grid_downsample_filter",
         remappings=[
-            ("input", LaunchConfiguration("output_measurement_range_sensor_points_topic")),
-            ("output", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")),
+            ("input", "measurement_range/pointcloud"),
+            ("output", "voxel_grid_downsample/pointcloud"),
         ],
         parameters=[load_composable_node_param("voxel_grid_downsample_filter_param_path")],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
@@ -58,8 +60,8 @@ def load_composable_node_param(param_path):
         plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent",
         name="random_downsample_filter",
         remappings=[
-            ("input", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")),
-            ("output", LaunchConfiguration("output_downsample_sensor_points_topic")),
+            ("input", "voxel_grid_downsample/pointcloud"),
+            ("output", LaunchConfiguration("output/pointcloud")),
         ],
         parameters=[load_composable_node_param("random_downsample_filter_param_path")],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
@@ -71,13 +73,21 @@ def load_composable_node_param(param_path):
         random_downsample_component,
     ]
 
-    load_composable_nodes = LoadComposableNodes(
-        condition=LaunchConfigurationNotEquals("container", ""),
+    individual_container = ComposableNodeContainer(
+        name=LaunchConfiguration("container_name"),
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container"),
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        output="screen",
     )
-
-    return [load_composable_nodes]
+    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]
 
 
 def generate_launch_description():
@@ -106,30 +116,13 @@ 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_pointcloud_container", "False")
+    add_launch_arg("container_name", "perception_pipeline_container")
+
     add_launch_arg(
-        "container",
-        "/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container",
-        "container name",
-    )
-    add_launch_arg(
-        "input_sensor_points_topic",
-        "/sensing/lidar/top/rectified/pointcloud",
-        "input topic name for raw pointcloud",
-    )
-    add_launch_arg(
-        "output_measurement_range_sensor_points_topic",
-        "measurement_range/pointcloud",
-        "output topic name for crop box filter",
-    )
-    add_launch_arg(
-        "output_voxel_grid_downsample_sensor_points_topic",
-        "voxel_grid_downsample/pointcloud",
-        "output topic name for voxel grid downsample filter",
-    )
-    add_launch_arg(
-        "output_downsample_sensor_points_topic",
+        "output/pointcloud",
         "downsample/pointcloud",
-        "output topic name for downsample filter. this is final output",
+        "final output topic name",
     )
 
     return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])

localization_launch/launch/util/util.launch.xml

@@ -1,22 +1,21 @@
 <?xml version="1.0"?>
 <launch>
 
-  <!-- Topics -->
-  <arg name="input_sensor_points_topic" default="/sensing/lidar/top/rectified/pointcloud" description="input topic name for raw pointcloud"/>
-  <arg name="output_measurement_range_sensor_points_topic" default="measurement_range/pointcloud" description="output topic name for crop box filter"/>
-  <arg name="output_voxel_grid_downsample_sensor_points_topic" default="voxel_grid_downsample/pointcloud" description="output topic name for voxel grid downsample filter"/>
-  <arg name="output_downsample_sensor_points_topic" default="downsample/pointcloud" description="output topic name for downsample filter. this is final output"/>
-
-  <!-- container -->
-  <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"  description="container name"/>
-
-  <!-- option -->
-  <arg name="use_intra_process" default="true" description="use ROS2 component container communication"/>
+  <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"/>
 
   <!-- pose_initializer -->
   <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml" />
 
   <!-- util -->
-  <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.py" />
+  <include file="$(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="use_intra_process" value="true"/>
+  </include>
 
 </launch>

perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="input/pointcloud" />
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
   <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
   <arg name="image_raw1" default="/image_raw1"/>
@@ -110,6 +111,7 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
     <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/objects" value="objects" />
     </include>
   </group>
@@ -118,7 +120,9 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
     <push-ros-namespace namespace="apollo"/>
     <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      </include>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>

perception_launch/launch/object_recognition/detection/detection.launch.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 
 <launch>
+  <arg name="input/pointcloud" />
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <!-- "camera_lidar_fusion", "lidar" or "camera" -->
@@ -26,6 +27,7 @@
   <!-- camera lidar fusion based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
       <arg name="image_raw1" value="$(var image_raw1)"/>
@@ -50,6 +52,7 @@
   <!-- lidar based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>

perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="input/pointcloud" />
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
 
   <!-- Pointcloud map filter -->
   <group>
@@ -37,15 +37,19 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
     <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml" />
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      </include>
     </group>
   </group>
 
   <!-- Lidar Apollo Instance Segmentation -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
     <push-ros-namespace namespace="apollo"/>
     <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      </include>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>

perception_launch/launch/perception.launch.xml

@@ -3,6 +3,7 @@
 <launch>
   <!-- common parameters -->
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
+  <arg name="input/pointcloud" default="/sensing/lidar/pointcloud" description="The topic will be used in the detection module" />
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
   <arg name="image_raw1" default="/sensing/camera/camera1/image_rect_color"/>
@@ -64,6 +65,7 @@
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection.launch.xml">
           <arg name="mode" value="$(var mode)"/>
+          <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
           <arg name="image_raw0" value="$(var image_raw0)"/>
           <arg name="camera_info0" value="$(var camera_info0)"/>
           <arg name="image_raw1" value="$(var image_raw1)"/>