enable ogm creation launcher in tier4_perception_launch to call multi_lidar ogm creation

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

Author: YoshiRi

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

@@ -8,7 +8,7 @@
   <arg name="use_multithread" default="false"/>
   <arg name="use_pointcloud_container" default="false"/>
   <arg name="container_name" default="occupancy_grid_map_container"/>
-  <arg name="occupancy_grid_map_method" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
+  <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"/>
   <arg name="occupancy_grid_map_param_path"/>
   <arg name="occupancy_grid_map_updater" description="options: binary_bayes_filter"/>
   <arg name="occupancy_grid_map_updater_param_path"/>
@@ -48,4 +48,18 @@
       <arg name="input_obstacle_and_raw_pointcloud" value="$(var input_obstacle_and_raw_pointcloud)"/>
     </include>
   </group>
+
+  <!--multi lidar pointclouds based method-->
+  <group if="$(eval &quot;'$(var occupancy_grid_map_method)'=='multi_lidar_pointcloud_based_occupancy_grid_map'&quot;)">
+    <include file="$(find-pkg-share probabilistic_occupancy_grid_map)/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py">
+      <arg name="output" value="/perception/occupancy_grid_map/map"/>
+      <arg name="use_intra_process" value="true"/>
+      <arg name="use_multithread" value="true"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="multi_lidar_fusion_config_file" value="$(var occupancy_grid_map_param_path)"/>
+      <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
+      <arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
+    </include>
+  </group>
 </launch>

perception/probabilistic_occupancy_grid_map/config/multi_lidar_pointclouds_based_fusion_config.param.yaml perception/probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml

@@ -36,9 +36,9 @@
         # Setting1: tune ogm creation parameters
         obstacle_pointcloud_topic: "/perception/obstacle_segmentation/single_frame/pointcloud_raw"
         raw_pointcloud_topics: # put each sensor's pointcloud topic
-          - "/sensing/lidar/top/outlier_filtered/pointcloud_synchronized"
-          - "/sensing/lidar/left/outlier_filtered/pointcloud_synchronized"
-          - "/sensing/lidar/right/outlier_filtered/pointcloud_synchronized"
+          - "/sensing/lidar/top/pointcloud_synchronized"
+          - "/sensing/lidar/left/pointcloud_synchronized"
+          - "/sensing/lidar/right/pointcloud_synchronized"
         fusion_input_ogm_topics:
           - "/perception/occupancy_grid_map/top_lidar/map"
           - "/perception/occupancy_grid_map/left_lidar/map"

perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py

@@ -195,7 +195,7 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg(
                 "multi_lidar_fusion_config_file",
                 get_package_share_directory("probabilistic_occupancy_grid_map")
-                + "/config/multi_lidar_pointclouds_based_fusion_config.param.yaml",
+                + "/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml",
             ),
             add_launch_arg("updater_type", "binary_bayes_filter"),
             add_launch_arg(