From 6f28ecfc5004bfbc48fa92d84dfe2fd19661e366 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 19:03:31 +0900
Subject: [PATCH] revert: revert rename of use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 awsim_sensor_kit_launch/launch/lidar.launch.xml             | 4 ++--
 .../launch/pointcloud_preprocessor.launch.py                | 6 +++---
 awsim_sensor_kit_launch/launch/sensing.launch.xml           | 4 ++--
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/awsim_sensor_kit_launch/launch/lidar.launch.xml b/awsim_sensor_kit_launch/launch/lidar.launch.xml
index 4f289af..e56da8e 100644
--- a/awsim_sensor_kit_launch/launch/lidar.launch.xml
+++ b/awsim_sensor_kit_launch/launch/lidar.launch.xml
@@ -1,7 +1,7 @@
 <launch>
   <arg name="use_concat_filter" default="true"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="include_concat_node_in_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="use_distortion_corrector" default="true"/>
 
@@ -36,7 +36,7 @@
       <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
diff --git a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index ea3d77a..456dc27 100644
--- a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -58,13 +58,13 @@ def launch_setup(context, *args, **kwargs):
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[],
-        condition=UnlessCondition(LaunchConfiguration("include_concat_node_in_pointcloud_container")),
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 
     target_container = (
         container
-        if UnlessCondition(LaunchConfiguration("include_concat_node_in_pointcloud_container")).evaluate(context)
+        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
         else LaunchConfiguration("pointcloud_container_name")
     )
 
@@ -88,7 +88,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
-    add_launch_arg("include_concat_node_in_pointcloud_container", "False")
+    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
     add_launch_arg("individual_container_name", "concatenate_container")
 
diff --git a/awsim_sensor_kit_launch/launch/sensing.launch.xml b/awsim_sensor_kit_launch/launch/sensing.launch.xml
index 2fa75f1..7d7a3e8 100644
--- a/awsim_sensor_kit_launch/launch/sensing.launch.xml
+++ b/awsim_sensor_kit_launch/launch/sensing.launch.xml
@@ -2,7 +2,7 @@
   <!-- Launch driver argument is not used since the AWSIM doesn't need any hardware drivers. -->
   <!-- <arg name="launch_driver" default="true" description="do launch driver"/> -->
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
-  <arg name="include_concat_node_in_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="use_distortion_corrector" default="false" description="compensate the point cloud distortion caused by vehicle movement"/>
 
@@ -10,7 +10,7 @@
     <!-- LiDAR Driver -->
     <include file="$(find-pkg-share awsim_sensor_kit_launch)/launch/lidar.launch.xml">
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
     </include>