fix: fix container name handling

Signed-off-by: kminoda <[email protected]>

awsim_sensor_kit_launch/launch/lidar.launch.xml

@@ -1,7 +1,6 @@
 <launch>
   <arg name="use_concat_filter" default="true"/>
   <arg name="vehicle_mirror_param_file"/>
-  <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="true"/>
 
@@ -13,6 +12,7 @@
       <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_lidar.launch.xml">
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
@@ -21,6 +21,7 @@
       <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_lidar.launch.xml">
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
@@ -29,14 +30,14 @@
       <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_lidar.launch.xml">
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
     <include file="$(find-pkg-share awsim_sensor_kit_launch)/launch/pointcloud_preprocessor.launch.py">
       <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>

awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py

@@ -51,31 +51,14 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    # set container to run all required components in the same process
-    container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[],
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
-    target_container = (
-        container
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("pointcloud_container_name")
-    )
-
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_component],
-        target_container=target_container,
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
 
-    return [container, concat_loader]
+    return [concat_loader]
 
 
 def generate_launch_description():
@@ -88,9 +71,7 @@ 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("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg("individual_container_name", "concatenate_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

awsim_sensor_kit_launch/launch/sensing.launch.xml

@@ -2,15 +2,13 @@
   <!-- 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="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"/>
 
   <group>
     <!-- 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="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>

common_awsim_sensor_launch/launch/velodyne_lidar.launch.xml

@@ -2,11 +2,13 @@
   <!-- Params -->
   <arg name="vehicle_mirror_param_file"/>
   <arg name="use_distortion_corrector" default="true"/>
+  <arg name="container_name" default="velodyne_node_container"/>
 
   <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_node_container.launch.py">
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
     <arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
+    <arg name="container_name" value="pointcloud_container"/>
   </include>
 </launch>

common_awsim_sensor_launch/launch/velodyne_node_container.launch.py

@@ -122,7 +122,7 @@ def create_parameter_dict(*args):
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         # need unique name, otherwise all processes in same container and the node names then clash
-        name="velodyne_node_container",
+        name=LaunchConfiguration("container_name"),
         namespace="pointcloud_preprocessor",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),