feat(localization_launch): replace localization_launch with tier4_localization_launch

[kminoda]

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

PR Type

• Improvement

Related Links

Also need to merge tier4/aip_launcher#98

Description

Remove localization_launch and use tier4_localization_launch in autoware.universe.

The parameter configuration in autoware.universe and autoware_launch has been modified as described in this issue.
With this modification, we are now able to pass parameter paths to tier4_xx_launch from the outside of the package, i.e. autoware_launch packages. Thus, I would like to remove xx_launch from tier4/autoware_launch and replace it with tier4_xx_launch in autoware.universe.

With this PR, we can reduce the maintenance cost of xx_launch.

(Before this PR: we need to modify both tier4_xx_launch and xx_launch. After this PR: we only need to modify tier4_xx_launch)

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[YamatoAndo]

@tkimura4 @h-ohta I'll leave it to your judgment.

[h-ohta]

@kminoda Could you add some reason why you make this PR, e.g. issues etc?

[takayuki5168]

The change looks good to me.
It's fine for me to merge if psim and lsim work well with this PR.

[h-ohta]

I confirmed starting autoware.launch.xml and logging_simulator.launch.xml

[kminoda]

@h-ohta Sorry, would you approve this again?

[h-ohta]

LGTM.
However, I'd like to discuss how we can understand easily which parameter is changed in the next step.

[kminoda]

@h-ohta Sorry, would you approve this again? 🙇

[kminoda]

@YamatoAndo Regarding the issue due to autowarefoundation/autoware.universe#2114, I think there are two solutions

1. Fix aip_launcher and incorporate the modification in feat(sample_sensor_kit_launch): pass container to velodyne nodes autowarefoundation/sample_sensor_kit_launch#48
2. Provide /sensing/lidar/top/... as a pointcloud_container_name from autoware_launch (no need for modification in aip_launcher)

I thought 2 would be a simple and thus better at least as a temporary solution. What do you think?

[YamatoAndo]

@kminoda If it is a temporary solution, option 2 would be fine.