refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py (#6287)

* refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: YamatoAndo

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

@@ -108,7 +108,7 @@
     <!-- pointcloud_downsampling -->
     <let name="override_input_pointcloud" value="$(var input_pointcloud)"/>
     <let name="override_input_pointcloud" value="$(var input_pointcloud)/relay" if="$(var multi_localizer_mode)"/>
-    <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py" if="$(var use_ndt_pose)">
+    <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.xml" if="$(var use_ndt_pose)">
       <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
       <arg name="input_pointcloud" value="$(var override_input_pointcloud)"/>
     </include>

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

@@ -0,0 +1,33 @@
+<launch>
+  <!-- topic -->
+  <arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
+
+  <!-- container -->
+  <arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container" description="container name of main lidar used for localization"/>
+
+  <!-- whether use intra-process -->
+  <arg name="use_intra_process" default="true" description="use ROS 2 component container communication"/>
+
+  <load_composable_node target="$(var lidar_container_name)">
+    <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
+      <param from="$(var crop_box_filter_measurement_range_param_path)"/>
+      <remap from="input" to="$(var input_pointcloud)"/>
+      <remap from="output" to="measurement_range/pointcloud"/>
+      <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+    </composable_node>
+
+    <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent" name="voxel_grid_downsample_filter">
+      <param from="$(var voxel_grid_downsample_filter_param_path)"/>
+      <remap from="input" to="measurement_range/pointcloud"/>
+      <remap from="output" to="voxel_grid_downsample/pointcloud"/>
+      <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+    </composable_node>
+
+    <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent" name="random_downsample_filter">
+      <param from="$(var random_downsample_filter_param_path)"/>
+      <remap from="input" to="voxel_grid_downsample/pointcloud"/>
+      <remap from="output" to="$(var output/pointcloud)"/>
+      <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+    </composable_node>
+  </load_composable_node>
+</launch>