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kminodapre-commit-ci[bot]
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karishma1911
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feat: always separate lidar preprocessing from pointcloud_container (#6091)
* feat!: replace use_pointcloud_container Signed-off-by: kminoda <koji.minoda@tier4.jp> * feat: remove from planning Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: fix to remove all use_pointcloud_container Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert: revert change in planning.launch Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert: revert rename of use_pointcloud_container Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: fix tier4_perception_launch to enable use_pointcloud_contaienr Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: fix unnecessary change Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: fix unnecessary change Signed-off-by: kminoda <koji.minoda@tier4.jp> * refactor: remove trailing whitespace Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert other changes in perception Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert change in readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * feat: move glog to pointcloud_container.launch.py * revert: revert glog porting Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix: fix pre-commit Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
1 parent e81a61c commit 4aa5352

15 files changed

+52
-53
lines changed

‎launch/tier4_localization_launch/launch/localization.launch.xml

+4-3
Original file line numberDiff line numberDiff line change
@@ -15,14 +15,15 @@
1515
<arg name="eagleye_param_path"/>
1616

1717
<arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud"/>
18-
<arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
19-
<arg name="pointcloud_container_name" default="pointcloud_container"/>
18+
<arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
2019

2120
<!-- localization module -->
2221
<group>
2322
<push-ros-namespace namespace="localization"/>
2423
<!-- pose_twist_estimator module -->
25-
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml"/>
24+
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml">
25+
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
26+
</include>
2627

2728
<!-- pose_twist_fusion_filter module -->
2829
<group>

‎launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

+6-2
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,9 @@
2323
<group if="$(var gnss_enabled)">
2424
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
2525
</group>
26-
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
26+
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
27+
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
28+
</include>
2729
</group>
2830
</group>
2931

@@ -142,7 +144,9 @@
142144
<group if="$(var gnss_enabled)">
143145
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
144146
</group>
145-
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
147+
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
148+
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
149+
</include>
146150
</group>
147151
</group>
148152
</launch>

‎launch/tier4_localization_launch/launch/util/util.launch.py

+4-14
Original file line numberDiff line numberDiff line change
@@ -15,8 +15,6 @@
1515
import launch
1616
from launch.actions import DeclareLaunchArgument
1717
from launch.actions import OpaqueFunction
18-
from launch.conditions import LaunchConfigurationNotEquals
19-
from launch.conditions import UnlessCondition
2018
from launch.substitutions import LaunchConfiguration
2119
from launch_ros.actions import LoadComposableNodes
2220
from launch_ros.descriptions import ComposableNode
@@ -71,16 +69,9 @@ def load_composable_node_param(param_path):
7169
random_downsample_component,
7270
]
7371

74-
target_container = (
75-
"/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
76-
if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
77-
else LaunchConfiguration("pointcloud_container_name")
78-
)
79-
8072
load_composable_nodes = LoadComposableNodes(
81-
condition=LaunchConfigurationNotEquals(target_container, ""),
8273
composable_node_descriptions=composable_nodes,
83-
target_container=target_container,
74+
target_container=LaunchConfiguration("lidar_container_name"),
8475
)
8576

8677
return [load_composable_nodes]
@@ -115,11 +106,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
115106
"path to the parameter file of random_downsample_filter",
116107
)
117108
add_launch_arg("use_intra_process", "true", "use ROS 2 component container communication")
118-
add_launch_arg("use_pointcloud_container", "True", "use pointcloud container")
119109
add_launch_arg(
120-
"pointcloud_container_name",
121-
"/pointcloud_container",
122-
"container name",
110+
"lidar_container_name",
111+
"/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container",
112+
"container name of main lidar used for localization",
123113
)
124114

125115
add_launch_arg(

‎launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@
66
<!-- LiDAR parameters -->
77
<arg name="input/pointcloud"/>
88
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
9-
<arg name="container_name" default="pointcloud_container"/>
9+
<arg name="pointcloud_container_name" default="pointcloud_container"/>
1010
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
1111
<arg name="score_threshold" default="0.35"/>
1212
<arg name="use_object_filter" default="true" description="use object filter"/>
@@ -62,7 +62,7 @@
6262
<arg name="use_intra_process" value="true"/>
6363
<arg name="use_multithread" value="true"/>
6464
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
65-
<arg name="container_name" value="$(var container_name)"/>
65+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
6666
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
6767
</include>
6868
</group>

‎launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@
66
<!-- LiDAR parameters -->
77
<arg name="input/pointcloud"/>
88
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
9-
<arg name="container_name" default="pointcloud_container"/>
9+
<arg name="pointcloud_container_name" default="pointcloud_container"/>
1010

1111
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
1212
<arg name="lidar_detection_score_threshold" default="0.35"/>
@@ -91,7 +91,7 @@
9191
<arg name="use_intra_process" value="true"/>
9292
<arg name="use_multithread" value="true"/>
9393
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
94-
<arg name="container_name" value="$(var container_name)"/>
94+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
9595
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
9696
</include>
9797
</group>

‎launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

+5-5
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@
88
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
99
<arg name="use_object_filter" default="true" description="use object filter"/>
1010
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
11-
<arg name="container_name" default="pointcloud_container"/>
11+
<arg name="pointcloud_container_name" default="pointcloud_container"/>
1212

1313
<!-- Camera parameters -->
1414
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -59,7 +59,7 @@
5959
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
6060
<arg name="use_object_filter" value="$(var use_object_filter)"/>
6161
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
62-
<arg name="container_name" value="$(var container_name)"/>
62+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
6363
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
6464
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
6565
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
@@ -96,7 +96,7 @@
9696
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
9797
<arg name="use_object_filter" value="$(var use_object_filter)"/>
9898
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
99-
<arg name="container_name" value="$(var container_name)"/>
99+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
100100
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
101101
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
102102
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
@@ -111,7 +111,7 @@
111111
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
112112
<arg name="use_object_filter" value="$(var use_object_filter)"/>
113113
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
114-
<arg name="container_name" value="$(var container_name)"/>
114+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
115115
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
116116
<arg name="input/radar" value="$(var input/radar)"/>
117117
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
@@ -126,7 +126,7 @@
126126
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
127127
<arg name="use_object_filter" value="$(var use_object_filter)"/>
128128
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
129-
<arg name="container_name" value="$(var container_name)"/>
129+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
130130
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
131131
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
132132
</include>

‎launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@
66
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
77
<arg name="use_object_filter" default="true" description="use object filter"/>
88
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
9-
<arg name="container_name" default="pointcloud_container"/>
9+
<arg name="pointcloud_container_name" default="pointcloud_container"/>
1010
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
1111
<arg name="lidar_detection_score_threshold" default="0.35"/>
1212
<arg name="centerpoint_model_name" default="centerpoint_tiny"/>
@@ -25,7 +25,7 @@
2525
<arg name="use_intra_process" value="true"/>
2626
<arg name="use_multithread" value="true"/>
2727
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
28-
<arg name="container_name" value="$(var container_name)"/>
28+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
2929
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
3030
</include>
3131
</group>

‎launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
66
<arg name="use_object_filter" default="true" description="use object filter"/>
77
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
8-
<arg name="container_name" default="pointcloud_container"/>
8+
<arg name="pointcloud_container_name" default="pointcloud_container"/>
99
<arg name="lidar_detection_score_threshold" default="0.35"/>
1010

1111
<!-- Radar parameters -->
@@ -23,7 +23,7 @@
2323
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
2424
<arg name="use_object_filter" value="$(var use_object_filter)"/>
2525
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
26-
<arg name="container_name" value="$(var container_name)"/>
26+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
2727
<arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
2828
</include>
2929
</group>

‎launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py

+4-3
Original file line numberDiff line numberDiff line change
@@ -141,7 +141,7 @@ def launch_setup(context, *args, **kwargs):
141141
components = []
142142
components.extend(pipeline.create_pipeline())
143143
individual_container = ComposableNodeContainer(
144-
name=LaunchConfiguration("container_name"),
144+
name=LaunchConfiguration("individual_container_name"),
145145
namespace="",
146146
package="rclcpp_components",
147147
executable=LaunchConfiguration("container_executable"),
@@ -151,7 +151,7 @@ def launch_setup(context, *args, **kwargs):
151151
)
152152
pointcloud_container_loader = LoadComposableNodes(
153153
composable_node_descriptions=components,
154-
target_container=LaunchConfiguration("container_name"),
154+
target_container=LaunchConfiguration("pointcloud_container_name"),
155155
condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
156156
)
157157
return [individual_container, pointcloud_container_loader]
@@ -168,7 +168,8 @@ def add_launch_arg(name: str, default_value=None):
168168
add_launch_arg("use_multithread", "False")
169169
add_launch_arg("use_intra_process", "True")
170170
add_launch_arg("use_pointcloud_container", "False")
171-
add_launch_arg("container_name", "pointcloud_map_filter_pipeline_container")
171+
add_launch_arg("pointcloud_container_name", "pointcloud_container")
172+
add_launch_arg("individual_container_name", "pointcloud_map_filter_container")
172173
add_launch_arg("use_pointcloud_map", "true")
173174
set_container_executable = SetLaunchConfiguration(
174175
"container_executable",

‎launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

+4-3
Original file line numberDiff line numberDiff line change
@@ -511,7 +511,7 @@ def launch_setup(context, *args, **kwargs):
511511
)
512512
)
513513
individual_container = ComposableNodeContainer(
514-
name=LaunchConfiguration("container_name"),
514+
name=LaunchConfiguration("individual_container_name"),
515515
namespace="",
516516
package="rclcpp_components",
517517
executable=LaunchConfiguration("container_executable"),
@@ -521,7 +521,7 @@ def launch_setup(context, *args, **kwargs):
521521
)
522522
pointcloud_container_loader = LoadComposableNodes(
523523
composable_node_descriptions=components,
524-
target_container=LaunchConfiguration("container_name"),
524+
target_container=LaunchConfiguration("pointcloud_container_name"),
525525
condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
526526
)
527527
return [individual_container, pointcloud_container_loader]
@@ -537,7 +537,8 @@ def add_launch_arg(name: str, default_value=None):
537537
add_launch_arg("use_multithread", "False")
538538
add_launch_arg("use_intra_process", "True")
539539
add_launch_arg("use_pointcloud_container", "False")
540-
add_launch_arg("container_name", "perception_pipeline_container")
540+
add_launch_arg("pointcloud_container_name", "pointcloud_container")
541+
add_launch_arg("individual_container_name", "ground_segmentation_container")
541542
add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")
542543

543544
set_container_executable = SetLaunchConfiguration(

‎launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml

+4-4
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@
77
<arg name="use_intra_process" default="false"/>
88
<arg name="use_multithread" default="false"/>
99
<arg name="use_pointcloud_container" default="false"/>
10-
<arg name="container_name" default="occupancy_grid_map_container"/>
10+
<arg name="pointcloud_container_name" default="pointcloud_container"/>
1111
<arg name="occupancy_grid_map_method" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map, multi_lidar_pointcloud_based_occupancy_grid_map"/>
1212
<arg name="occupancy_grid_map_param_path"/>
1313
<arg name="occupancy_grid_map_updater" description="options: binary_bayes_filter"/>
@@ -24,7 +24,7 @@
2424
<arg name="use_intra_process" value="$(var use_intra_process)"/>
2525
<arg name="use_multithread" value="$(var use_multithread)"/>
2626
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
27-
<arg name="container_name" value="$(var container_name)"/>
27+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
2828
<arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
2929
<arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
3030
<arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
@@ -40,7 +40,7 @@
4040
<arg name="use_intra_process" value="$(var use_intra_process)"/>
4141
<arg name="use_multithread" value="$(var use_multithread)"/>
4242
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
43-
<arg name="container_name" value="$(var container_name)"/>
43+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
4444
<arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
4545
<arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
4646
<arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
@@ -56,7 +56,7 @@
5656
<arg name="use_intra_process" value="true"/>
5757
<arg name="use_multithread" value="true"/>
5858
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
59-
<arg name="container_name" value="$(var pointcloud_container_name)"/>
59+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
6060
<arg name="multi_lidar_fusion_config_file" value="$(var occupancy_grid_map_param_path)"/>
6161
<arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
6262
<arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>

‎launch/tier4_perception_launch/launch/perception.launch.xml

+3-3
Original file line numberDiff line numberDiff line change
@@ -127,7 +127,7 @@
127127
<arg name="use_intra_process" value="true"/>
128128
<arg name="use_multithread" value="true"/>
129129
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
130-
<arg name="container_name" value="$(var pointcloud_container_name)"/>
130+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
131131
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
132132
</include>
133133
</group>
@@ -142,7 +142,7 @@
142142
<arg name="use_intra_process" value="true"/>
143143
<arg name="use_multithread" value="true"/>
144144
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
145-
<arg name="container_name" value="$(var pointcloud_container_name)"/>
145+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
146146
<arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
147147
<arg name="occupancy_grid_map_param_path" value="$(var occupancy_grid_map_param_path)"/>
148148
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
@@ -193,7 +193,7 @@
193193
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
194194
<arg name="use_object_filter" value="$(var use_object_filter)"/>
195195
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
196-
<arg name="container_name" value="$(var pointcloud_container_name)"/>
196+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
197197
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
198198
</include>
199199
</group>

‎perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py

+4-3
Original file line numberDiff line numberDiff line change
@@ -115,7 +115,7 @@ def launch_setup(context, *args, **kwargs):
115115
]
116116

117117
occupancy_grid_map_container = ComposableNodeContainer(
118-
name=LaunchConfiguration("container_name"),
118+
name=LaunchConfiguration("individual_container_name"),
119119
namespace="",
120120
package="rclcpp_components",
121121
executable=LaunchConfiguration("container_executable"),
@@ -126,7 +126,7 @@ def launch_setup(context, *args, **kwargs):
126126

127127
load_composable_nodes = LoadComposableNodes(
128128
composable_node_descriptions=composable_nodes,
129-
target_container=LaunchConfiguration("container_name"),
129+
target_container=LaunchConfiguration("pointcloud_container_name"),
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condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
131131
)
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@@ -174,7 +174,8 @@ def add_launch_arg(name: str, default_value=None):
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add_launch_arg("input_obstacle_pointcloud", "false"),
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add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),
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add_launch_arg("use_pointcloud_container", "false"),
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add_launch_arg("container_name", "occupancy_grid_map_container"),
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add_launch_arg("pointcloud_container_name", "pointcloud_container"),
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add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
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set_container_executable,
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set_container_mt_executable,
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]

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