revert: revert change in probabilistic_occupancy_grid_map

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

Author: kminoda

perception/probabilistic_occupancy_grid_map/README.md

@@ -67,6 +67,7 @@ Additional argument is shown below:
 | `map_origin`                        | ``                             | parameter to override `map_origin_frame` which means grid map origin                          |
 | `scan_origin`                       | ``                             | parameter to override `scan_origin_frame` which means scanning center                         |
 | `output`                            | `occupancy_grid`               | output name                                                                                   |
+| `use_pointcloud_container`          | `false`                        |                                                                                               |
 | `container_name`                    | `occupancy_grid_map_container` |                                                                                               |
 | `input_obstacle_pointcloud`         | `false`                        | only for laserscan based method. If true, the node subscribe obstacle pointcloud              |
 | `input_obstacle_and_raw_pointcloud` | `true`                         | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud |

perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py

@@ -20,6 +20,7 @@
 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
@@ -113,12 +114,23 @@ def launch_setup(context, *args, **kwargs):
         ),
     ]
 
+    occupancy_grid_map_container = ComposableNodeContainer(
+        name=LaunchConfiguration("individual_container_name"),
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=composable_nodes,
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        output="screen",
+    )
+
     load_composable_nodes = LoadComposableNodes(
         composable_node_descriptions=composable_nodes,
         target_container=LaunchConfiguration("pointcloud_container_name"),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
-    return [load_composable_nodes]
+    return [occupancy_grid_map_container, load_composable_nodes]
 
 
 def generate_launch_description():
@@ -161,7 +173,9 @@ def add_launch_arg(name: str, default_value=None):
             ),
             add_launch_arg("input_obstacle_pointcloud", "false"),
             add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),
+            add_launch_arg("use_pointcloud_container", "false"),
             add_launch_arg("pointcloud_container_name", "pointcloud_container"),
+            add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
             set_container_executable,
             set_container_mt_executable,
         ]

perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py

@@ -20,6 +20,7 @@
 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
@@ -62,12 +63,23 @@ def launch_setup(context, *args, **kwargs):
         ),
     ]
 
+    occupancy_grid_map_container = ComposableNodeContainer(
+        name=LaunchConfiguration("individual_container_name"),
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=composable_nodes,
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        output="screen",
+    )
+
     load_composable_nodes = LoadComposableNodes(
         composable_node_descriptions=composable_nodes,
         target_container=LaunchConfiguration("pointcloud_container_name"),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
-    return [load_composable_nodes]
+    return [occupancy_grid_map_container, load_composable_nodes]
 
 
 def generate_launch_description():
@@ -90,7 +102,9 @@ def add_launch_arg(name: str, default_value=None):
         [
             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", "occupancy_grid_map_container"),
             add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
             add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"),
             add_launch_arg("output", "occupancy_grid"),

perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md

@@ -104,6 +104,7 @@ You need to generate OGMs in each sensor frame before achieving grid map fusion.
     <arg name="scan_origin" value="velodyne_right"/>
     <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="method" value="pointcloud_based_occupancy_grid_map"/>
     <arg name="param_file" value="$(find-pkg-share probabilistic_occupancy_grid_map)/config/pointcloud_based_occupancy_grid_map_fusion.param.yaml"/>
@@ -144,6 +145,7 @@ You can include this launch file like the following.
   <arg name="output" value="/perception/occupancy_grid_map/fusion/map"/>
   <arg name="use_intra_process" value="true"/>
   <arg name="use_multithread" value="true"/>
+  <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
   <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   <arg name="method" value="pointcloud_based_occupancy_grid_map"/>
   <arg name="fusion_config_file" value="$(var fusion_config_file)"/>