feat: add localization_launch package (autowarefoundation#171)

* release v0.4.0 * removed ROS1 package Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "removed ROS1 package" This reverts commit efeb029d17c4fb14de1542512574742a4cb05de8. * add COLCON_IGNORE file to all ROS1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * rename *.launch files to *.launch.xml Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Port localization_launch to ros2 * fix syntax (autowarefoundation#33) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * ROS2 Linting: localization_launch (autowarefoundation#39) * Add linters to localization_launch package * Add new line * Fix indentation * Ros2 v0.8.0 localization launch (autowarefoundation#54) * restore file name for v0.8.0 update in localization launch Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add random sample (autowarefoundation#84) Signed-off-by: Yamato Ando <yamato.ando@gmail.com> * Add ndt_scan_matcher.yaml (autowarefoundation#162) Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * ]Revert "restore file name for v0.8.0 update in localization launch" This reverts commit f589733f7dad05989bde323baeb5c43a62cd26e1. * fix param type Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix exec name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: YamatoAndo <yamato.ando@gmail.com> Co-authored-by: Yuma Nihei <yuma.nihei@tier4.jp> * Rename ROS-related .yaml to .param.yaml (autowarefoundation#65) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add missing '--' Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix livox param name Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add localization_error_monitor launch (autowarefoundation#75) * Fix various typos in launch files (autowarefoundation#97) * add use_sim-time option (autowarefoundation#99) * Replace doc by description (autowarefoundation#182) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ros2 lsim test (autowarefoundation#186) * Add group to launch file for var scope Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add use_sim_time Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix invalid attribute in twist estimator launch (autowarefoundation#192) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Localization util preprocessor component (autowarefoundation#188) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use set_parameter for use_sim_time (autowarefoundation#198) * Use set_parameter for use_sim_time Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add default parameter for scenario simulator Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix depends in localization_launch to exec_depend (autowarefoundation#223) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typos in launch files (autowarefoundation#231) * Fix typos in launch files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Format launch files (autowarefoundation#228) * Format launch files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Format launch.py Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Enable intra process and mt (autowarefoundation#204) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Load output_measurement_range_sensor_points_topic param (autowarefoundation#271) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * use_twist_with_covariance is false (autowarefoundation#295) * add description for localization_launch (autowarefoundation#332) * add description * fix sentence * add README.md and svg files (autowarefoundation#328) * add md and svg * fix typo * fix typo * fix word * fix typo * add lack of things * Update README * fix depending packages * fix word * Feature/expand footprint launcher (autowarefoundation#318) * Add autoware api (autowarefoundation#376) * Add external api adaptor (autowarefoundation#267) * Add external api adaptor * Add api adaptor to logging simulator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add engage status output Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add internal api adaptor (autowarefoundation#273) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add map hash generator (autowarefoundation#319) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add autoware api launch (autowarefoundation#326) * Add autoware api launch Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Apply autoware api launch Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add deprecated comment Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove unused parameter (autowarefoundation#325) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add api parameter (autowarefoundation#341) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add start request API (autowarefoundation#321) * Add use start request option Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Feature external cmd selector heartbeat (autowarefoundation#356) * Rename external command topic Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Modify command topic name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Rename remote_cmd_converter Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove gate mode from external command Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix latest external command name (autowarefoundation#361) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix merge conflict Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * change external traffic light topic name in behavior velocity planner (autowarefoundation#310) * fix topic * change internal topic name Co-authored-by: yabuta <makoto.yabuta@tier4.jp> * added stop filter launch in localization_launch (autowarefoundation#270) * Fix pre-commit (autowarefoundation#407) * Fix pre-commit errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix package.xml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * modify util.launch in localization_launch autowarefoundation#396 * add localization error monitor param (autowarefoundation#431) * add environment_name parameter into localization launch (autowarefoundation#175) (autowarefoundation#293) * add environment_name parameter into localization launch (autowarefoundation#175) * add environment_name parameter into localization launch change launcher parameters of crop_box_filter_mesurement_range and voxel_grid_filter to yaml file Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp> * change param file directory name Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp> * Remove redundant comments Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com> * delete environment name (autowarefoundation#428) * Change formatter to black (autowarefoundation#488) * Update pre-commit settings * Apply Black * Replace ament_lint_common with autoware_lint_common * Update build_depends.repos * Fix build_depends * porting localization (autowarefoundation#121) * porting localization * fixed odometry in ekf * fixed vehicle twist topic name Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Yunus Emre Caliskan <yunus.ec@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Jilada Eccleston <jilada.eccleston@tier4.jp> Co-authored-by: YamatoAndo <yamato.ando@gmail.com> Co-authored-by: Yuma Nihei <yuma.nihei@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: yabuta <makoto.yabuta@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: RyuYamamoto <ryu.yamamoto@tier4.jp> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
badai-nguyen · Dec 14, 2021 · bea243d · bea243d
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diff --git a/launch/localization_launch/CMakeLists.txt b/launch/localization_launch/CMakeLists.txt
@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.5)
+project(localization_launch)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  config
+)
diff --git a/launch/localization_launch/README.md b/launch/localization_launch/README.md
@@ -0,0 +1,26 @@
+# localization_launch
+
+## Structure
+
+![localization_launch](./localization_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+You can include as follows in `*.launch.xml` to use `localization.launch.xml`.
+
+```xml
+  <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml">
+  </include>
+```
+
+## Notes
+
+There are some `param.yaml` files in `config` directory.
+
+```bash
+ndt_scan_matcher.param.yaml
+```
diff --git a/launch/localization_launch/config/crop_box_filter_measurement_range.param.yaml b/launch/localization_launch/config/crop_box_filter_measurement_range.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    input_frame: "base_link"
+    output_frame: "base_link"
+    min_x: -60.0
+    max_x: 60.0
+    min_y: -60.0
+    max_y: 60.0
+    min_z: -30.0
+    max_z: 50.0
+    negative: False
diff --git a/launch/localization_launch/config/ndt_scan_matcher.param.yaml b/launch/localization_launch/config/ndt_scan_matcher.param.yaml
@@ -0,0 +1,34 @@
+/**:
+  ros__parameters:
+    # Vehicle reference frame
+    base_frame: "base_link"
+
+    # Subscriber queue size
+    input_sensor_points_queue_size: 1
+
+    # NDT implementation type
+    # 0=PCL_GENERIC, 1=PCL_MODIFIED, 2=OMP
+    ndt_implement_type: 2
+
+    # The maximum difference between two consecutive
+    # transformations in order to consider convergence
+    trans_epsilon: 0.01
+
+    # The newton line search maximum step length
+    step_size: 0.1
+
+    # The ND voxel grid resolution
+    resolution: 2.0
+
+    # The number of iterations required to calculate alignment
+    max_iterations: 30
+
+    # Threshold for deciding whether to trust the estimation result
+    converged_param_transform_probability: 3.0
+
+    # neighborhood search method in OMP
+    # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
+    omp_neighborhood_search_method: 0
+
+    # Number of threads used for parallel computing
+    omp_num_threads: 4
diff --git a/launch/localization_launch/config/random_downsample_filter.param.yaml b/launch/localization_launch/config/random_downsample_filter.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    sample_num: 1500
diff --git a/launch/localization_launch/config/voxel_grid_filter.param.yaml b/launch/localization_launch/config/voxel_grid_filter.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    voxel_size_x: 3.0
+    voxel_size_y: 3.0
+    voxel_size_z: 3.0
diff --git a/launch/localization_launch/launch/localization.launch.xml b/launch/localization_launch/launch/localization.launch.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- 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">
+      </include>
+    </group>
+    <!-- pose_estimator module -->
+    <group>
+      <push-ros-namespace namespace="pose_estimator"/>
+      <include file="$(find-pkg-share localization_launch)/launch/pose_estimator/pose_estimator.launch.xml">
+      </include>
+    </group>
+    <!-- twist_estimator module -->
+    <group>
+      <push-ros-namespace namespace="twist_estimator"/>
+      <include file="$(find-pkg-share localization_launch)/launch/twist_estimator/twist_estimator.launch.xml">
+      </include>
+    </group>
+    <!-- pose_twist_fusion_filter module -->
+    <group>
+      <push-ros-namespace namespace="pose_twist_fusion_filter"/>
+      <include file="$(find-pkg-share localization_launch)/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml">
+      </include>
+    </group>
+    <!-- localization_error_monitor_module -->
+    <include file="$(find-pkg-share localization_launch)/launch/localization_error_monitor/localization_error_monitor.launch.xml">
+    </include>
+  </group>
+</launch>
diff --git a/...calization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/...calization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+    <include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
+      <arg name="input/pose_with_cov" value="/localization/pose_with_covariance" />
+      <arg name="scale" value="3.0" />
+      <arg name="error_ellipse_size" value="1.0" />
+      <arg name="warn_ellipse_size" value="0.8" />
+      <arg name="error_ellipse_size_lateral_direction" value="1.0" />
+      <arg name="warn_ellipse_size_lateral_direction" value="0.8" />
+    </include>
+</launch>
diff --git a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<launch>
+
+  <include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
+    <arg name="input_map_points_topic" value="/map/pointcloud_map"/>
+    <arg name="input_sensor_points_topic" value="/localization/util/downsample/pointcloud"/>
+    <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias"/>
+
+
+    <arg name="output_pose_topic" value="/localization/pose_estimator/pose"/>
+    <arg name="output_pose_with_covariance_topic" value="/localization/pose_estimator/pose_with_covariance"/>
+    <arg name="output_diagnostics_topic" value="/localization/diagnostics"/>
+
+    <arg name="param_file" value="$(find-pkg-share localization_launch)/config/ndt_scan_matcher.param.yaml" />
+  </include>
+
+</launch>
diff --git a/...h/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/...h/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml">
+    <arg name="enable_yaw_bias_estimation" value="False"/>
+    <arg name="tf_rate" value="50.0"/>
+    <arg name="twist_rate" value="25.0"/>
+    <arg name="input_initial_pose_name" value="/initialpose3d"/>
+
+    <arg name="input_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance"/>
+    <arg name="input_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
+    <arg name="output_odom_name" value="kinematic_state"/>
+    <arg name="output_pose_name" value="pose"/>
+    <arg name="output_pose_with_covariance_name" value="/localization/pose_with_covariance"/>
+    <arg name="output_pose_without_yawbias_name" value="pose_without_yawbias"/>
+    <arg name="output_pose_with_covariance_without_yawbias_name" value="pose_with_covariance_without_yawbias"/>
+    <arg name="output_twist_name" value="twist"/>
+    <arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
+
+    <arg name="twist_stddev_wz" value="0.003 "/>
+
+    <arg name="proc_stddev_vx_c" value="10.0"/>
+    <arg name="proc_stddev_wz_c" value="5.0"/>
+  </include>
+  <include file="$(find-pkg-share stop_filter)/launch/stop_filter.launch.xml">
+    <arg name="use_twist_with_covariance" value="True"/>
+    <arg name="input_odom_name" value="/localization/pose_twist_fusion_filter/kinematic_state"/>
+    <arg name="input_twist_with_covariance_name" value="/localization/pose_twist_fusion_filter/twist_with_covariance"/>
+    <arg name="output_odom_name" value="/localization/kinematic_state"/>
+  </include>
+</launch>
diff --git a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+    <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
+    <arg name="output_twist_with_covariance" value="/localization/twist_estimator/vehicle_velocity_converter/twist_with_covariance"/>
+  </include>
+  <include file="$(find-pkg-share gyro_odometer)/launch/gyro_odometer.launch.xml">
+    <arg name="input_vehicle_twist_with_covariance_topic" value="/localization/twist_estimator/vehicle_velocity_converter/twist_with_covariance"/>
+    <arg name="output_twist_with_covariance_topic" value="/localization/twist_estimator/twist_with_covariance" />
+  </include>
+</launch>
diff --git a/launch/localization_launch/launch/util/util.launch.py b/launch/localization_launch/launch/util/util.launch.py
@@ -0,0 +1,135 @@
+# Copyright 2020 Tier IV, Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import launch
+from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
+from launch.conditions import LaunchConfigurationNotEquals
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
+from launch_ros.substitutions import FindPackageShare
+import yaml
+
+
+def launch_setup(context, *args, **kwargs):
+    # https://github.com/ros2/launch_ros/issues/156
+    def load_composable_node_param(param_path):
+        with open(LaunchConfiguration(param_path).perform(context), "r") as f:
+            return yaml.safe_load(f)["/**"]["ros__parameters"]
+
+    crop_box_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        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")),
+        ],
+        parameters=[
+            load_composable_node_param("crop_box_filter_measurement_range_param_path"),
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+    voxel_grid_downsample_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        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")),
+        ],
+        parameters=[load_composable_node_param("voxel_grid_downsample_filter_param_path")],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+    random_downsample_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
+        name="random_downsample_filter",
+        remappings=[
+            ("input", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")),
+            ("output", LaunchConfiguration("output_downsample_sensor_points_topic")),
+        ],
+        parameters=[load_composable_node_param("random_downsample_filter_param_path")],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
+    composable_nodes = [
+        crop_box_component,
+        voxel_grid_downsample_component,
+        random_downsample_component,
+    ]
+
+    load_composable_nodes = LoadComposableNodes(
+        condition=LaunchConfigurationNotEquals("container", ""),
+        composable_node_descriptions=composable_nodes,
+        target_container=LaunchConfiguration("container"),
+    )
+
+    return [load_composable_nodes]
+
+
+def generate_launch_description():
+    launch_arguments = []
+
+    def add_launch_arg(name: str, default_value=None, description=None):
+        arg = DeclareLaunchArgument(name, default_value=default_value, description=description)
+        launch_arguments.append(arg)
+
+    add_launch_arg(
+        "crop_box_filter_measurement_range_param_path",
+        [
+            FindPackageShare("localization_launch"),
+            "/config/crop_box_filter_measurement_range.param.yaml",
+        ],
+        "path to the parameter file of crop_box_filter_measurement_range",
+    )
+    add_launch_arg(
+        "voxel_grid_downsample_filter_param_path",
+        [FindPackageShare("localization_launch"), "/config/voxel_grid_filter.param.yaml"],
+        "path to the parameter file of voxel_grid_downsample_filter",
+    )
+    add_launch_arg(
+        "random_downsample_filter_param_path",
+        [FindPackageShare("localization_launch"), "/config/random_downsample_filter.param.yaml"],
+        "path to the parameter file of random_downsample_filter",
+    )
+    add_launch_arg("use_intra_process", "true", "use ROS2 component container communication")
+    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",
+        "downsample/pointcloud",
+        "output topic name for downsample filter. this is final output",
+    )
+
+    return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])
diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml
@@ -0,0 +1,22 @@
+<?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"/>
+
+  <!-- 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" />
+
+</launch>