feat(localization_launch): replace localization_launch with tier4_loc…

…alization_launch (#651)

* remove localization_launch

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

* Update readme

* remove localization_launch from packages.xml

* provide pointcloud_container_name, which should be customized depending on vehicles

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

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

README.md

@@ -19,6 +19,5 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map
 - [autoware_launch](./autoware_launch)
 - [control_launch](./control_launch)
 - [integration_launch](./integration_launch)
-- [localization_launch](./localization_launch)
 - [planning_launch](./planning_launch)
 - [system_launch](./system_launch)

autoware_launch/launch/autoware.launch.xml

@@ -95,7 +95,7 @@
 
   <!-- Localization -->
   <group if="$(var launch_localization)">
-    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"/>
   </group>
 
   <!-- Perception -->

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
+    <arg name="pointcloud_container_name" value="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"/>
+
+    <arg name="crop_box_filter_measurement_range_param_path" value="$(find-pkg-share autoware_launch)/config/localization/crop_box_filter_measurement_range.param.yaml"/>
+    <arg name="voxel_grid_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/voxel_grid_filter.param.yaml"/>
+    <arg name="random_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/random_downsample_filter.param.yaml"/>
+    <arg name="ndt_scan_matcher_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ndt_scan_matcher.param.yaml"/>
+    <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
+  </include>
+</launch>

autoware_launch/package.xml

@@ -13,13 +13,13 @@
   <exec_depend>autoware_api_launch</exec_depend>
   <exec_depend>control_launch</exec_depend>
   <exec_depend>global_parameter_loader</exec_depend>
-  <exec_depend>localization_launch</exec_depend>
   <exec_depend>planning_launch</exec_depend>
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>simulator_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
+  <exec_depend>tier4_localization_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>
   <exec_depend>tier4_perception_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>