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feat: remove use_pointcloud_container #87

Merged
merged 4 commits into from
Feb 8, 2024
Merged

feat: remove use_pointcloud_container #87

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f6c5723
feat!: remove use_pointcloud_container
kminoda Jan 19, 2024
2a059d9
Merge remote-tracking branch 'origin' into feat/remove_use_pointcloud…
kminoda Jan 29, 2024
22b7b51
Merge branch 'main' into feat/remove_use_pointcloud_container
kminoda Feb 1, 2024
128435a
fix: remove unnecessary import
kminoda Feb 7, 2024
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2 changes: 0 additions & 2 deletions sample_sensor_kit_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
<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="pointcloud_container_name" default="pointcloud_container"/>

<group>
Expand Down Expand Up @@ -80,7 +79,6 @@
<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)"/>
</include>
</group>
Expand Down
23 changes: 2 additions & 21 deletions sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -49,31 +49,14 @@ def launch_setup(context, *args, **kwargs):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

# set container to run all required components in the same process
container = ComposableNodeContainer(
name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
composable_node_descriptions=[],
condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
output="screen",
)

target_container = (
container
if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
else LaunchConfiguration("pointcloud_container_name")
)

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
target_container=target_container,
target_container=LaunchConfiguration("pointcloud_container_name"),
condition=IfCondition(LaunchConfiguration("use_concat_filter")),
)

return [container, concat_loader]
return [concat_loader]


def generate_launch_description():
Expand All @@ -85,9 +68,7 @@ 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("use_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",
Expand Down
2 changes: 0 additions & 2 deletions sample_sensor_kit_launch/launch/sensing.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
<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="pointcloud_container_name" default="pointcloud_container"/>
<arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>

Expand All @@ -10,7 +9,6 @@
<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="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>

Expand Down
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