feat(concatenation): separate concatenate node from other preprocessi…

…ng nodes' container

aip_xx1_launch/launch/lidar.launch.xml

@@ -106,7 +106,7 @@
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="true"/>
-      <arg name="container_name" value="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
+      <arg name="container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
   </group>

aip_xx1_launch/launch/pointcloud_preprocessor.launch.py

@@ -57,19 +57,13 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    glog_component = ComposableNode(
-        package="glog_component",
-        plugin="GlogComponent",
-        name="glog_component",
-    )
-
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name=LaunchConfiguration("container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[glog_component],
+        # composable_node_descriptions=[glog_component],
         condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
@@ -82,7 +76,7 @@ def launch_setup(context, *args, **kwargs):
 
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component, glog_component],
+        composable_node_descriptions=[concat_component],
         target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )