From ab6dbf5584c1be4880ebf8e5451b1bd7ddce078e Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Wed, 21 Dec 2022 17:04:09 +0900
Subject: [PATCH] feat(autoware_launch): move config from autoware.universe for
 map (#128)

feat(autoware_launch): move config to autoware_launch for map

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../config/map/pointcloud_map_loader.param.yaml      |  9 +++++++++
 autoware_launch/launch/autoware.launch.xml           |  2 +-
 .../launch/components/tier4_map_component.launch.xml | 12 ++++++++++++
 3 files changed, 22 insertions(+), 1 deletion(-)
 create mode 100644 autoware_launch/config/map/pointcloud_map_loader.param.yaml
 create mode 100644 autoware_launch/launch/components/tier4_map_component.launch.xml

diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml
new file mode 100644
index 0000000000000..8f3ccbff00360
--- /dev/null
+++ b/autoware_launch/config/map/pointcloud_map_loader.param.yaml
@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    enable_whole_load: true
+    enable_downsampled_whole_load: false
+    enable_partial_load: false
+    enable_differential_load: false
+
+    # only used when downsample_whole_load enabled
+    leaf_size: 3.0 # downsample leaf size [m]
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 9b0af9610e85c..449d3238e06ff 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -76,7 +76,7 @@
 
   <!-- Map -->
   <group if="$(var launch_map)">
-    <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml">
       <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
     </include>
diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
new file mode 100644
index 0000000000000..cba9c3c0a23df
--- /dev/null
+++ b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="lanelet2_map_path"/>
+  <arg name="pointcloud_map_path"/>
+
+  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+    <arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
+    <arg name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
+
+    <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
+  </include>
+</launch>