feat: always separate lidar preprocessing from pointcloud_container

launch/tier4_localization_launch/launch/localization.launch.xml

@@ -15,14 +15,15 @@
   <arg name="eagleye_param_path"/>
 
   <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud"/>
-  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
 
   <!-- localization module -->
   <group>
     <push-ros-namespace namespace="localization"/>
     <!-- pose_twist_estimator module -->
-    <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml"/>
+    <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml">
+      <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+    </include>
 
     <!-- pose_twist_fusion_filter module -->
     <group>

launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

@@ -23,7 +23,9 @@
       <group if="$(var gnss_enabled)">
         <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
       </group>
-      <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
+      <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
+        <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+      </include>
     </group>
   </group>
 
@@ -142,7 +144,9 @@
       <group if="$(var gnss_enabled)">
         <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
       </group>
-      <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
+      <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
+        <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+      </include>
     </group>
   </group>
 </launch>

launch/tier4_localization_launch/launch/util/util.launch.py

@@ -15,8 +15,6 @@
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
-from launch.conditions import LaunchConfigurationNotEquals
-from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
@@ -71,16 +69,9 @@ def load_composable_node_param(param_path):
         random_downsample_component,
     ]
 
-    target_container = (
-        "/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("pointcloud_container_name")
-    )
-
     load_composable_nodes = LoadComposableNodes(
-        condition=LaunchConfigurationNotEquals(target_container, ""),
         composable_node_descriptions=composable_nodes,
-        target_container=target_container,
+        target_container=LaunchConfiguration("lidar_container_name"),
     )
 
     return [load_composable_nodes]
@@ -115,11 +106,10 @@ 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 ROS 2 component container communication")
-    add_launch_arg("use_pointcloud_container", "True", "use pointcloud container")
     add_launch_arg(
-        "pointcloud_container_name",
-        "/pointcloud_container",
-        "container name",
+        "lidar_container_name",
+        "/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container",
+        "container name of main lidar used for localization",
     )
 
     add_launch_arg(

launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

@@ -6,7 +6,7 @@
   <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="container_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="score_threshold" default="0.35"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
@@ -62,7 +62,7 @@
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>

launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml

@@ -6,7 +6,7 @@
   <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="container_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
@@ -91,7 +91,7 @@
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>

launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

@@ -8,7 +8,7 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <!-- Camera parameters -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -59,7 +59,7 @@
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
@@ -96,7 +96,7 @@
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
@@ -111,7 +111,7 @@
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
@@ -126,7 +126,7 @@
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>

launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml

@@ -6,7 +6,7 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
   <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
@@ -25,7 +25,7 @@
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>

launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml

@@ -5,7 +5,7 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
 
   <!-- Radar parameters -->
@@ -23,7 +23,7 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
     </include>
   </group>

launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py

@@ -141,7 +141,7 @@ def launch_setup(context, *args, **kwargs):
     components = []
     components.extend(pipeline.create_pipeline())
     individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
@@ -151,7 +151,7 @@ def launch_setup(context, *args, **kwargs):
     )
     pointcloud_container_loader = LoadComposableNodes(
         composable_node_descriptions=components,
-        target_container=LaunchConfiguration("container_name"),
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
     return [individual_container, pointcloud_container_loader]
@@ -168,7 +168,8 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("use_pointcloud_container", "False")
-    add_launch_arg("container_name", "pointcloud_map_filter_pipeline_container")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("individual_container_name", "pointcloud_map_filter_container")
     add_launch_arg("use_pointcloud_map", "true")
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -511,7 +511,7 @@ def launch_setup(context, *args, **kwargs):
             )
         )
     individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
@@ -521,7 +521,7 @@ def launch_setup(context, *args, **kwargs):
     )
     pointcloud_container_loader = LoadComposableNodes(
         composable_node_descriptions=components,
-        target_container=LaunchConfiguration("container_name"),
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
     return [individual_container, pointcloud_container_loader]
@@ -537,7 +537,8 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("use_pointcloud_container", "False")
-    add_launch_arg("container_name", "perception_pipeline_container")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("individual_container_name", "ground_segmentation_container")
     add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")
 
     set_container_executable = SetLaunchConfiguration(

launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml

@@ -7,7 +7,7 @@
   <arg name="use_intra_process" default="false"/>
   <arg name="use_multithread" default="false"/>
   <arg name="use_pointcloud_container" default="false"/>
-  <arg name="container_name" default="occupancy_grid_map_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="occupancy_grid_map_method" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map, multi_lidar_pointcloud_based_occupancy_grid_map"/>
   <arg name="occupancy_grid_map_param_path"/>
   <arg name="occupancy_grid_map_updater" description="options: binary_bayes_filter"/>
@@ -24,7 +24,7 @@
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
       <arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
@@ -40,7 +40,7 @@
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
       <arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
@@ -56,7 +56,7 @@
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="multi_lidar_fusion_config_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
       <arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -124,7 +124,7 @@
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       </include>
     </group>
@@ -139,7 +139,7 @@
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
         <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
         <arg name="occupancy_grid_map_param_path" value="$(var occupancy_grid_map_param_path)"/>
         <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
@@ -190,7 +190,7 @@
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
           <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-          <arg name="container_name" value="$(var pointcloud_container_name)"/>
+          <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
         </include>
       </group>

perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py

@@ -115,7 +115,7 @@ def launch_setup(context, *args, **kwargs):
     ]
 
     occupancy_grid_map_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
@@ -126,7 +126,7 @@ def launch_setup(context, *args, **kwargs):
 
     load_composable_nodes = LoadComposableNodes(
         composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container_name"),
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
@@ -174,7 +174,8 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_obstacle_pointcloud", "false"),
             add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),
             add_launch_arg("use_pointcloud_container", "false"),
-            add_launch_arg("container_name", "occupancy_grid_map_container"),
+            add_launch_arg("pointcloud_container_name", "pointcloud_container"),
+            add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
             set_container_executable,
             set_container_mt_executable,
         ]