File tree 3 files changed +7
-5
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launch/tier4_localization_launch/launch
3 files changed +7
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<arg name =" ar_tag_based_localizer_param_path" />
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<arg name =" input_pointcloud" default =" /sensing/lidar/top/pointcloud" />
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- <arg name =" lidar_container_name " default =" /sensing/lidar/top/ pointcloud_preprocessor/pointcloud_container" />
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+ <arg name =" target_pointcloud_container_name " default =" /localization/util/ pointcloud_preprocessor/pointcloud_container" description = " The name of the container preprocessing the pointcloud " />
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<!-- localization module -->
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<group >
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<push-ros-namespace namespace =" localization" />
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<!-- pose_twist_estimator module -->
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<include file =" $(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml" >
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- <arg name =" lidar_container_name " value =" $(var lidar_container_name )" />
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+ <arg name =" target_pointcloud_container_name " value =" $(var target_pointcloud_container_name )" />
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</include >
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<!-- pose_twist_fusion_filter module -->
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<let name =" override_input_pointcloud" value =" $(var input_pointcloud)" />
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<let name =" override_input_pointcloud" value =" $(var input_pointcloud)/relay" if =" $(var multi_localizer_mode)" />
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<include file =" $(find-pkg-share tier4_localization_launch)/launch/util/util.launch.xml" if =" $(var use_ndt_pose)" >
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- <arg name =" lidar_container_name" value =" $(var lidar_container_name)" />
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<arg name =" input_pointcloud" value =" $(var override_input_pointcloud)" />
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</include >
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</group >
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<arg name =" output/pointcloud" default =" downsample/pointcloud" description =" final output topic name" />
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<!-- container -->
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- <arg name =" lidar_container_name" default =" /sensing/lidar/top/pointcloud_preprocessor/pointcloud_container" description =" container name of main lidar used for localization" />
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+ <arg name =" target_pointcloud_container_name" default =" /localization/util/pointcloud_preprocessor/pointcloud_container" description =" container name of the pointcloud used for localization" />
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+ <let name =" use_existing_pointcloud_container" value =" $(eval " '$(var target_pointcloud_container_name)' != '/localization/util/pointcloud_preprocessor/pointcloud_container' " )" />
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+
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+ <node_container unless =" $(var use_existing_pointcloud_container)" pkg =" rclcpp_components" exec =" component_container" name =" pointcloud_container" namespace =" pointcloud_preprocessor" />
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<!-- whether use intra-process -->
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<arg name =" use_intra_process" default =" true" description =" use ROS 2 component container communication" />
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- <load_composable_node target =" $(var lidar_container_name )" >
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+ <load_composable_node target =" $(var target_pointcloud_container_name )" >
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<composable_node pkg =" pointcloud_preprocessor" plugin =" pointcloud_preprocessor::CropBoxFilterComponent" name =" crop_box_filter_measurement_range" >
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<param from =" $(var ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path)" />
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<remap from =" input" to =" $(var input_pointcloud)" />
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