From a626b802b1d9e3357e6f41da727c6a427e3dbb68 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Mon, 15 Jan 2024 18:34:35 +0900
Subject: [PATCH] feat(concatenation): separate concatenate node from other
 preprocessing nodes' container

---
 aip_xx1_launch/launch/lidar.launch.xml                  | 2 +-
 aip_xx1_launch/launch/pointcloud_preprocessor.launch.py | 9 +--------
 2 files changed, 2 insertions(+), 9 deletions(-)

diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 77ec443f..3b093eba 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/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>
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index a2a0fd45..34bc1091 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -57,19 +57,12 @@ 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],
         condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
@@ -82,7 +75,7 @@ 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")),
     )