chore(ndt scan matcher): rename config path (#6333)

* 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

* chore(ndt_scan_matcher): rename config path

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

* rename path

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

---------

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/localization.launch.xml

@@ -4,11 +4,13 @@
   <arg name="twist_source"/>
   <arg name="system_run_mode"/>
 
+  <!-- parameter paths for ndt -->
+  <arg name="ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path"/>
+  <arg name="ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path"/>
+  <arg name="ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path"/>
+  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path"/>
+
   <!-- Parameter files -->
-  <arg name="crop_box_filter_measurement_range_param_path"/>
-  <arg name="voxel_grid_downsample_filter_param_path"/>
-  <arg name="random_downsample_filter_param_path"/>
-  <arg name="ndt_scan_matcher_param_path"/>
   <arg name="localization_error_monitor_param_path"/>
   <arg name="ekf_localizer_param_path"/>
   <arg name="pose_initializer_param_path"/>

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

@@ -12,7 +12,7 @@
 
       <arg name="client_map_loader" value="/map/get_differential_pointcloud_map"/>
 
-      <arg name="param_file" value="$(var ndt_scan_matcher_param_path)"/>
+      <arg name="param_file" value="$(var ndt_scan_matcher/ndt_scan_matcher_param_path)"/>
     </include>
   </group>
 </launch>

launch/tier4_localization_launch/launch/util/util.launch.xml

@@ -10,21 +10,21 @@
 
   <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)"/>
+      <param from="$(var ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path)"/>
       <remap from="input" to="$(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="$(var voxel_grid_downsample_filter_param_path)"/>
+      <param from="$(var ndt_scan_matcher/pointcloud_preprocessor/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="$(var random_downsample_filter_param_path)"/>
+      <param from="$(var ndt_scan_matcher/pointcloud_preprocessor/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)"/>