feat: remove use_pointcloud_container (#6115)

* feat!: remove use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix pre-commit

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: completely remove use_pointcloud_container after merge main

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: set use_pointcloud_container = true

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert: revert change in probabilistic_occupancy_grid_map

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert change in launcher of ogm

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Author: kminoda

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

@@ -7,7 +7,6 @@
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <!-- Camera parameters -->
@@ -56,7 +55,6 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
@@ -130,7 +128,6 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
@@ -190,7 +187,6 @@
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
     <!-- Lidar object merger -->
@@ -219,7 +215,6 @@
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
     <!-- Lidar object merger -->

launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

@@ -4,7 +4,6 @@
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
 
   <!-- Lidar + Camera detector parameters -->
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
@@ -86,7 +85,7 @@
       <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
 
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
@@ -98,7 +97,6 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>

launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml

@@ -21,7 +21,7 @@
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
         <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
 
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_pointcloud_container" value="true"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>

launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml

@@ -3,7 +3,6 @@
   <!-- Lidar parameters -->
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
 
   <!-- Pointcloud filter -->
   <group>
@@ -12,7 +11,6 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
@@ -27,7 +25,7 @@
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
 
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_pointcloud_container" value="true"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>

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

@@ -20,7 +20,6 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 import yaml
@@ -140,21 +139,11 @@ def launch_setup(context, *args, **kwargs):
     pipeline = PointcloudMapFilterPipeline(context)
     components = []
     components.extend(pipeline.create_pipeline())
-    individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=components,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
     pointcloud_container_loader = LoadComposableNodes(
         composable_node_descriptions=components,
         target_container=LaunchConfiguration("pointcloud_container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
-    return [individual_container, pointcloud_container_loader]
+    return [pointcloud_container_loader]
 
 
 def generate_launch_description():
@@ -167,9 +156,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("output_topic", "")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "True")
-    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg("individual_container_name", "pointcloud_map_filter_container")
     add_launch_arg("use_pointcloud_map", "true")
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

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

@@ -21,7 +21,6 @@
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch.substitutions import PathJoinSubstitution
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 from launch_ros.substitutions import FindPackageShare
@@ -504,21 +503,11 @@ def launch_setup(context, *args, **kwargs):
                 output_topic=pipeline.output_topic,
             )
         )
-    individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=components,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
     pointcloud_container_loader = LoadComposableNodes(
         composable_node_descriptions=components,
         target_container=LaunchConfiguration("pointcloud_container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
-    return [individual_container, pointcloud_container_loader]
+    return [pointcloud_container_loader]
 
 
 def generate_launch_description():
@@ -530,9 +519,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "True")
-    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg("individual_container_name", "ground_segmentation_container")
     add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")
 
     set_container_executable = SetLaunchConfiguration(

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

@@ -6,7 +6,6 @@
   <arg name="output" default="/perception/occupancy_grid_map/map"/>
   <arg name="use_intra_process" default="false"/>
   <arg name="use_multithread" default="false"/>
-  <arg name="use_pointcloud_container" default="false"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <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"/>
@@ -23,7 +22,7 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
@@ -39,7 +38,7 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
@@ -55,7 +54,7 @@
       <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="$(var use_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(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)"/>

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -82,7 +82,6 @@
     default="false"
     description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
   />
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="objects_filter_method" default="lanelet_filter"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
@@ -131,7 +130,6 @@
         <arg name="base_frame" value="base_link"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       </include>
@@ -146,7 +144,6 @@
         <arg name="output" value="/perception/occupancy_grid_map/map"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
         <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
         <arg name="occupancy_grid_map_param_path" value="$(var occupancy_grid_map_param_path)"/>
@@ -197,7 +194,6 @@
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
-          <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
           <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
         </include>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -269,59 +269,28 @@
   </node_container>
 
   <group if="$(var launch_compare_map_pipeline)">
-    <group if="$(var use_pointcloud_container)">
-      <!-- use pointcloud container -->
-      <load_composable_node target="$(var pointcloud_container_name)">
-        <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
-          <remap from="kinematic_state" to="/localization/kinematic_state"/>
-          <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
-          <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
-          <remap from="output" to="compare_map_filtered/pointcloud"/>
-          <!-- params -->
-          <param from="$(var compare_map_filter_param_path)"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
+    <!-- use pointcloud container -->
+    <load_composable_node target="$(var pointcloud_container_name)">
+      <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
+        <!-- topic remap -->
+        <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
+        <remap from="kinematic_state" to="/localization/kinematic_state"/>
+        <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
+        <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
+        <remap from="output" to="compare_map_filtered/pointcloud"/>
+        <!-- params -->
+        <param from="$(var compare_map_filter_param_path)"/>
+        <extra_arg name="use_intra_process_comms" value="false"/>
+      </composable_node>
 
-        <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
-          <remap from="input" to="compare_map_filtered/pointcloud"/>
-          <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
-          <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
-      </load_composable_node>
-    </group>
-
-    <group unless="$(var use_pointcloud_container)">
-      <!-- launch new container -->
-      <node_container pkg="rclcpp_components" exec="$(var container_type)" name="compare_map_container" namespace="" args="">
-        <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
-          <remap from="kinematic_state" to="/localization/kinematic_state"/>
-          <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
-          <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
-          <remap from="output" to="compare_map_filtered/pointcloud"/>
-          <!-- params -->
-          <param from="$(var compare_map_filter_param_path)"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
-
-        <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
-          <remap from="input" to="compare_map_filtered/pointcloud"/>
-          <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
-          <!-- params -->
-          <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
-
-        <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
-      </node_container>
-    </group>
+      <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
+        <!-- topic remap -->
+        <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
+        <remap from="input" to="compare_map_filtered/pointcloud"/>
+        <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
+        <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
+        <extra_arg name="use_intra_process_comms" value="false"/>
+      </composable_node>
+    </load_composable_node>
   </group>
 </launch>