From 41bc416781ccfb65320ac87157622cf15026dc1d Mon Sep 17 00:00:00 2001
From: Yukihiro Saito <yukky.saito@gmail.com>
Date: Thu, 31 Mar 2022 12:01:17 +0900
Subject: [PATCH] feat: revert #215

This reverts commit 6bb26bd086fd4d3d883a8294d6961278f68dd08e.
---
 autoware_launch/launch/autoware.launch.xml             |  3 ++-
 autoware_launch/launch/logging_simulator.launch.xml    |  3 ++-
 localization_launch/launch/localization.launch.xml     |  2 --
 localization_launch/launch/util/util.launch.py         |  7 ++++++-
 localization_launch/launch/util/util.launch.xml        |  4 ++--
 .../camera_lidar_fusion_based_detection.launch.xml     |  6 +-----
 .../object_recognition/detection/detection.launch.xml  |  3 ---
 .../detection/lidar_based_detection.launch.xml         | 10 +++-------
 perception_launch/launch/perception.launch.xml         |  2 --
 9 files changed, 16 insertions(+), 24 deletions(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index d37cf4dc6..e8d661bfc 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -50,7 +50,8 @@
   </include>
 
   <!-- Localization -->
-  <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" />
+  <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml">
+  </include>
 
   <!-- Perception -->
   <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index dedb34b3e..9704254fb 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -76,7 +76,8 @@
 
   <!-- Localization -->
   <group>
-    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" if="$(var localization)" />
+    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" if="$(var localization)">
+    </include>
   </group>
 
   <!-- Perception -->
diff --git a/localization_launch/launch/localization.launch.xml b/localization_launch/launch/localization.launch.xml
index 79851cf32..3deae2b0e 100644
--- a/localization_launch/launch/localization.launch.xml
+++ b/localization_launch/launch/localization.launch.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="input/pointcloud" default="/sensing/lidar/pointcloud" description="The topic will be used in the localization util module" />
   <!-- localization module -->
   <group>
     <push-ros-namespace namespace="localization"/>
@@ -8,7 +7,6 @@
     <group>
       <push-ros-namespace namespace="util"/>
       <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)" />
       </include>
     </group>
     <!-- pose_estimator module -->
diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py
index 01d1e061e..abcd824b7 100644
--- a/localization_launch/launch/util/util.launch.py
+++ b/localization_launch/launch/util/util.launch.py
@@ -34,7 +34,7 @@ def load_composable_node_param(param_path):
         plugin="pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_measurement_range",
         remappings=[
-            ("input", LaunchConfiguration("input/pointcloud")),
+            ("input", LaunchConfiguration("input_sensor_points_topic")),
             ("output", LaunchConfiguration("output_measurement_range_sensor_points_topic")),
         ],
         parameters=[
@@ -111,6 +111,11 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container",
         "container name",
     )
+    add_launch_arg(
+        "input_sensor_points_topic",
+        "/sensing/lidar/top/rectified/pointcloud",
+        "input topic name for raw pointcloud",
+    )
     add_launch_arg(
         "output_measurement_range_sensor_points_topic",
         "measurement_range/pointcloud",
diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml
index 108760f20..6d2cc2954 100644
--- a/localization_launch/launch/util/util.launch.xml
+++ b/localization_launch/launch/util/util.launch.xml
@@ -2,13 +2,13 @@
 <launch>
 
   <!-- Topics -->
-  <arg name="input/pointcloud" description="input topic name for raw pointcloud"/>
+  <arg name="input_sensor_points_topic" default="/sensing/lidar/top/rectified/pointcloud" description="input topic name for raw pointcloud"/>
   <arg name="output_measurement_range_sensor_points_topic" default="measurement_range/pointcloud" description="output topic name for crop box filter"/>
   <arg name="output_voxel_grid_downsample_sensor_points_topic" default="voxel_grid_downsample/pointcloud" description="output topic name for voxel grid downsample filter"/>
   <arg name="output_downsample_sensor_points_topic" default="downsample/pointcloud" description="output topic name for downsample filter. this is final output"/>
 
   <!-- container -->
-  <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container" description="container name"/>
+  <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"  description="container name"/>
 
   <!-- option -->
   <arg name="use_intra_process" default="true" description="use ROS2 component container communication"/>
diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 72a2af062..917fd52f3 100644
--- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="input/pointcloud" />
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
   <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
   <arg name="image_raw1" default="/image_raw1"/>
@@ -111,7 +110,6 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
     <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/objects" value="objects" />
     </include>
   </group>
@@ -120,9 +118,7 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
     <push-ros-namespace namespace="apollo"/>
     <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      </include>
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>
diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
index 0fc359043..2ef5c8dab 100644
--- a/perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 
 <launch>
-  <arg name="input/pointcloud" />
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <!-- "camera_lidar_fusion", "lidar" or "camera" -->
@@ -27,7 +26,6 @@
   <!-- camera lidar fusion based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
       <arg name="image_raw1" value="$(var image_raw1)"/>
@@ -52,7 +50,6 @@
   <!-- lidar based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 9e1e47bd8..010d7f419 100644
--- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="input/pointcloud" />
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
 
   <!-- Pointcloud map filter -->
   <group>
@@ -37,9 +37,7 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
     <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      </include>
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml" />
     </group>
   </group>
 
@@ -47,9 +45,7 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
     <push-ros-namespace namespace="apollo"/>
     <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      </include>
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>
diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
index 28d9aebab..cc09ba3a5 100644
--- a/perception_launch/launch/perception.launch.xml
+++ b/perception_launch/launch/perception.launch.xml
@@ -3,7 +3,6 @@
 <launch>
   <!-- common parameters -->
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
-  <arg name="input/pointcloud" default="/sensing/lidar/pointcloud" description="The topic will be used in the detection module" />
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
   <arg name="image_raw1" default="/sensing/camera/camera1/image_rect_color"/>
@@ -65,7 +64,6 @@
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection.launch.xml">
           <arg name="mode" value="$(var mode)"/>
-          <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
           <arg name="image_raw0" value="$(var image_raw0)"/>
           <arg name="camera_info0" value="$(var camera_info0)"/>
           <arg name="image_raw1" value="$(var image_raw1)"/>