From f7b8ca05f86fa6b4fa208d1f326cd70be47a923e Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 18:24:36 +0900
Subject: [PATCH 1/7] feat!: replace use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 sample_sensor_kit_launch/launch/lidar.launch.xml    | 10 +++-------
 .../launch/pointcloud_preprocessor.launch.py        | 13 +++++++------
 sample_sensor_kit_launch/launch/sensing.launch.xml  |  4 ++--
 3 files changed, 12 insertions(+), 15 deletions(-)

diff --git a/sample_sensor_kit_launch/launch/lidar.launch.xml b/sample_sensor_kit_launch/launch/lidar.launch.xml
index 7b75c770..8ee44365 100644
--- a/sample_sensor_kit_launch/launch/lidar.launch.xml
+++ b/sample_sensor_kit_launch/launch/lidar.launch.xml
@@ -4,7 +4,7 @@
   <arg name="use_concat_filter" default="true"/>
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="include_concat_node_in_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <group>
@@ -21,7 +21,6 @@
         <arg name="scan_phase" value="300.0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
@@ -39,7 +38,6 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
@@ -57,7 +55,6 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
@@ -75,7 +72,6 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
@@ -84,8 +80,8 @@
       <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="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
 </launch>
diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index 420854dc..e29aa788 100644
--- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -51,19 +51,19 @@ def launch_setup(context, *args, **kwargs):
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[],
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        condition=UnlessCondition(LaunchConfiguration("include_concat_node_in_pointcloud_container")),
         output="screen",
     )
 
     target_container = (
         container
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("container_name")
+        if UnlessCondition(LaunchConfiguration("include_concat_node_in_pointcloud_container")).evaluate(context)
+        else LaunchConfiguration("pointcloud_container_name")
     )
 
     # load concat or passthrough filter
@@ -85,8 +85,9 @@ 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", "False")
-    add_launch_arg("use_pointcloud_container", "False")
-    add_launch_arg("container_name", "pointcloud_preprocessor_container")
+    add_launch_arg("include_concat_node_in_pointcloud_container", "False")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("individual_container_name", "concatenate_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/sample_sensor_kit_launch/launch/sensing.launch.xml b/sample_sensor_kit_launch/launch/sensing.launch.xml
index 9b40ee8a..c4c762e4 100644
--- a/sample_sensor_kit_launch/launch/sensing.launch.xml
+++ b/sample_sensor_kit_launch/launch/sensing.launch.xml
@@ -1,7 +1,7 @@
 <launch>
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="include_concat_node_in_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>
 
@@ -10,7 +10,7 @@
     <include file="$(find-pkg-share sample_sensor_kit_launch)/launch/lidar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)"/>
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 

From 70fa9639e3637730ae1d42fce4406ff178c4d6bd Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 16 Jan 2024 09:25:06 +0000
Subject: [PATCH 2/7] style(pre-commit): autofix

---
 .../launch/pointcloud_preprocessor.launch.py              | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index e29aa788..3427b2d4 100644
--- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -56,13 +56,17 @@ def launch_setup(context, *args, **kwargs):
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[],
-        condition=UnlessCondition(LaunchConfiguration("include_concat_node_in_pointcloud_container")),
+        condition=UnlessCondition(
+            LaunchConfiguration("include_concat_node_in_pointcloud_container")
+        ),
         output="screen",
     )
 
     target_container = (
         container
-        if UnlessCondition(LaunchConfiguration("include_concat_node_in_pointcloud_container")).evaluate(context)
+        if UnlessCondition(
+            LaunchConfiguration("include_concat_node_in_pointcloud_container")
+        ).evaluate(context)
         else LaunchConfiguration("pointcloud_container_name")
     )
 

From eb509250fb2035a24dbb52b1ccd519519b7cce36 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 22:15:49 +0900
Subject: [PATCH 3/7] fix: now works

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/nebula_node_container.launch.py    | 22 ++++---------------
 .../launch/velodyne_VLP16.launch.xml          |  6 ++---
 .../launch/velodyne_VLS128.launch.xml         |  6 ++---
 .../launch/lidar.launch.xml                   |  6 +----
 .../launch/pointcloud_preprocessor.launch.py  |  6 ++---
 5 files changed, 11 insertions(+), 35 deletions(-)

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index a79681b8..6dabce18 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -195,21 +195,14 @@ def create_parameter_dict(*args):
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("lidar_container_name"),
         namespace="pointcloud_preprocessor",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=nodes,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 
-    component_loader = LoadComposableNodes(
-        composable_node_descriptions=nodes,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-
     driver_component = ComposableNode(
         package="nebula_ros",
         plugin=sensor_make + "HwInterfaceRosWrapper",
@@ -238,19 +231,13 @@ def create_parameter_dict(*args):
         ],
     )
 
-    target_container = (
-        container
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("container_name")
-    )
-
     driver_component_loader = LoadComposableNodes(
         composable_node_descriptions=[driver_component],
-        target_container=target_container,
+        target_container=container,
         condition=IfCondition(LaunchConfiguration("launch_driver")),
     )
 
-    return [container, component_loader, driver_component_loader]
+    return [container, driver_component_loader]
 
 
 def generate_launch_description():
@@ -287,8 +274,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     )
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
-    add_launch_arg("use_pointcloud_container", "false")
-    add_launch_arg("container_name", "nebula_node_container")
+    add_launch_arg("lidar_container_name", "nebula_node_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
index 6197bd14..127709f3 100644
--- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -13,8 +13,7 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false"/>
-  <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="lidar_container_name" default="pointcloud_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -32,8 +31,7 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-    <arg name="container_name" value="$(var container_name)"/>
+    <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
index 76c24f22..6098e744 100644
--- a/common_sensor_launch/launch/velodyne_VLS128.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -13,8 +13,7 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false"/>
-  <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="lidar_container_name" default="pointcloud_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -32,8 +31,7 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-    <arg name="container_name" value="$(var container_name)"/>
+    <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/sample_sensor_kit_launch/launch/lidar.launch.xml b/sample_sensor_kit_launch/launch/lidar.launch.xml
index 8ee44365..ff4cf91f 100644
--- a/sample_sensor_kit_launch/launch/lidar.launch.xml
+++ b/sample_sensor_kit_launch/launch/lidar.launch.xml
@@ -21,7 +21,6 @@
         <arg name="scan_phase" value="300.0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
@@ -38,7 +37,6 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
@@ -55,7 +53,6 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
@@ -72,7 +69,6 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
@@ -80,7 +76,7 @@
       <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index 3427b2d4..0c525ed4 100644
--- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -64,9 +64,7 @@ def launch_setup(context, *args, **kwargs):
 
     target_container = (
         container
-        if UnlessCondition(
-            LaunchConfiguration("include_concat_node_in_pointcloud_container")
-        ).evaluate(context)
+        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
         else LaunchConfiguration("pointcloud_container_name")
     )
 
@@ -89,7 +87,7 @@ 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", "False")
-    add_launch_arg("include_concat_node_in_pointcloud_container", "False")
+    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
     add_launch_arg("individual_container_name", "concatenate_container")
 

From 628ca6756295337ea3642261882a2873180d2ba2 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 16 Jan 2024 22:41:08 +0900
Subject: [PATCH 4/7] revert: revert unnecessary change

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/nebula_node_container.launch.py                | 2 +-
 common_sensor_launch/launch/velodyne_VLP16.launch.xml     | 4 ++--
 common_sensor_launch/launch/velodyne_VLS128.launch.xml    | 4 ++--
 sample_sensor_kit_launch/launch/lidar.launch.xml          | 8 ++++++--
 4 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 6dabce18..b1d178b1 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -195,7 +195,7 @@ def create_parameter_dict(*args):
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
-        name=LaunchConfiguration("lidar_container_name"),
+        name=LaunchConfiguration("container_name"),
         namespace="pointcloud_preprocessor",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
index 127709f3..f0fcc075 100644
--- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -13,7 +13,7 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="lidar_container_name" default="pointcloud_container"/>
+  <arg name="container_name" default="velodyne_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -31,7 +31,7 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
-    <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+    <arg name="container_name" value="$(var container_name)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
index 6098e744..d2797ac8 100644
--- a/common_sensor_launch/launch/velodyne_VLS128.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -13,7 +13,7 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="lidar_container_name" default="pointcloud_container"/>
+  <arg name="container_name" default="velodyne_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -31,7 +31,7 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
-    <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+    <arg name="container_name" value="$(var container_name)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/sample_sensor_kit_launch/launch/lidar.launch.xml b/sample_sensor_kit_launch/launch/lidar.launch.xml
index ff4cf91f..0dcd67a9 100644
--- a/sample_sensor_kit_launch/launch/lidar.launch.xml
+++ b/sample_sensor_kit_launch/launch/lidar.launch.xml
@@ -4,7 +4,7 @@
   <arg name="use_concat_filter" default="true"/>
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="include_concat_node_in_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <group>
@@ -21,6 +21,7 @@
         <arg name="scan_phase" value="300.0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
@@ -37,6 +38,7 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
@@ -53,6 +55,7 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
@@ -69,6 +72,7 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
@@ -77,7 +81,7 @@
       <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="container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
 </launch>

From 40faf920a06ee667cca95c93a6c838e602d4a4e9 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Wed, 17 Jan 2024 09:33:25 +0900
Subject: [PATCH 5/7] include_concat_node_in_pointcloud_container to
 use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/pointcloud_preprocessor.launch.py                  | 2 +-
 sample_sensor_kit_launch/launch/sensing.launch.xml            | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index 0c525ed4..d1587b15 100644
--- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -57,7 +57,7 @@ def launch_setup(context, *args, **kwargs):
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[],
         condition=UnlessCondition(
-            LaunchConfiguration("include_concat_node_in_pointcloud_container")
+            LaunchConfiguration("use_pointcloud_container")
         ),
         output="screen",
     )
diff --git a/sample_sensor_kit_launch/launch/sensing.launch.xml b/sample_sensor_kit_launch/launch/sensing.launch.xml
index c4c762e4..9b40ee8a 100644
--- a/sample_sensor_kit_launch/launch/sensing.launch.xml
+++ b/sample_sensor_kit_launch/launch/sensing.launch.xml
@@ -1,7 +1,7 @@
 <launch>
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
-  <arg name="include_concat_node_in_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>
 
@@ -10,7 +10,7 @@
     <include file="$(find-pkg-share sample_sensor_kit_launch)/launch/lidar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)"/>
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 

From 8737af12a3c0160ac04b8b4238e3d29570108980 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 17 Jan 2024 00:33:39 +0000
Subject: [PATCH 6/7] style(pre-commit): autofix

---
 .../launch/pointcloud_preprocessor.launch.py                  | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index d1587b15..1d1c8824 100644
--- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -56,9 +56,7 @@ def launch_setup(context, *args, **kwargs):
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[],
-        condition=UnlessCondition(
-            LaunchConfiguration("use_pointcloud_container")
-        ),
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 

From 44c503c1f42cdfa44b513d91d708b873ca35c2dc Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Fri, 19 Jan 2024 09:42:15 +0900
Subject: [PATCH 7/7] fix arg name

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 sample_sensor_kit_launch/launch/lidar.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sample_sensor_kit_launch/launch/lidar.launch.xml b/sample_sensor_kit_launch/launch/lidar.launch.xml
index 0dcd67a9..7effa7bc 100644
--- a/sample_sensor_kit_launch/launch/lidar.launch.xml
+++ b/sample_sensor_kit_launch/launch/lidar.launch.xml
@@ -81,7 +81,7 @@
       <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="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
 </launch>