From 6a9ea0f93ed3280e830cca15aa51e1fe4395e59a Mon Sep 17 00:00:00 2001
From: h-ohta <hiroki.ota@tier4.jp>
Date: Thu, 7 Apr 2022 11:02:12 +0900
Subject: [PATCH] feat(localization_launch): change argument structure in
 util.launch

---
 .../launch/util/util.launch.py                | 28 ++++++-------------
 .../launch/util/util.launch.xml               | 13 +++++----
 2 files changed, 17 insertions(+), 24 deletions(-)

diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py
index abcd824b7..83d99b2a0 100644
--- a/localization_launch/launch/util/util.launch.py
+++ b/localization_launch/launch/util/util.launch.py
@@ -34,8 +34,8 @@ 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 +47,8 @@ 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 +58,8 @@ 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")}],
@@ -112,24 +112,14 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "container name",
     )
     add_launch_arg(
-        "input_sensor_points_topic",
+        "input/pointcloud",
         "/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)])
diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml
index 6d2cc2954..4973513b8 100644
--- a/localization_launch/launch/util/util.launch.xml
+++ b/localization_launch/launch/util/util.launch.xml
@@ -2,10 +2,8 @@
 <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"/>
+  <arg name="input/pointcloud"  default="/sensing/lidar/top/rectified/pointcloud" description="input topic name"/>
+  <arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
 
   <!-- container -->
   <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"  description="container name"/>
@@ -17,6 +15,11 @@
   <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="container" value="$(var container)"/>
+    <arg name="use_intra_process" value="$(var use_intra_process)"/>
+  </include>
 
 </launch>