feat: add use_pointcloud_container option (#118)

* feat: add use_pointcloud_container option

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* feat: add options to lidar.launch

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

---------

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

aip_x1_launch/launch/lidar.launch.xml

@@ -22,6 +22,8 @@
         <arg name="scan_phase" value="180.0" />
         <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>
 

aip_xx1_launch/launch/lidar.launch.xml

@@ -20,6 +20,8 @@
         <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>
 
@@ -33,6 +35,8 @@
         <arg name="scan_phase" value="180.0" />
         <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>
 
@@ -46,6 +50,8 @@
         <arg name="scan_phase" value="180.0" />
         <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>
 
@@ -59,6 +65,8 @@
         <arg name="scan_phase" value="180.0" />
         <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>
 

common_sensor_launch/launch/velodyne_VLP16.launch.xml

@@ -15,6 +15,8 @@
   <arg name="view_direction" default="0.0" />
   <arg name="view_width" default="6.28" />
   <arg name="vehicle_mirror_param_file" />
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="container_name" default="velodyne_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -32,6 +34,8 @@
     <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)"/>
   </include>
 
   <!-- Velodyne Monitor -->

common_sensor_launch/launch/velodyne_VLP32C.launch.xml

@@ -15,6 +15,8 @@
   <arg name="view_direction" default="0.0" />
   <arg name="view_width" default="6.28" />
   <arg name="vehicle_mirror_param_file" />
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="container_name" default="velodyne_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -32,6 +34,8 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
     <arg name="use_intra_process" value="false" />
     <arg name="use_multithread" value="false" />
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="container_name" value="$(var container_name)"/>
   </include>
 
   <!-- Velodyne Monitor -->

common_sensor_launch/launch/velodyne_VLS128.launch.xml

@@ -15,6 +15,8 @@
   <arg name="view_direction" default="0.0" />
   <arg name="view_width" default="6.28" />
   <arg name="vehicle_mirror_param_file" />
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="container_name" default="velodyne_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -32,6 +34,8 @@
     <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)"/>
   </include>
 
   <!-- Velodyne Monitor -->

common_sensor_launch/launch/velodyne_node_container.launch.py

@@ -166,12 +166,19 @@ def create_parameter_dict(*args):
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
-        # need unique name, otherwise all processes in same container and the node names then clash
-        name="velodyne_node_container",
+        name=LaunchConfiguration("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(
@@ -198,15 +205,19 @@ def create_parameter_dict(*args):
         ],
     )
 
-    # one way to add a ComposableNode conditional on a launch argument to a
-    # container. The `ComposableNode` itself doesn't accept a condition
-    loader = LoadComposableNodes(
+    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=container,
-        condition=launch.conditions.IfCondition(LaunchConfiguration("launch_driver")),
+        target_container=target_container,
+        condition=IfCondition(LaunchConfiguration("launch_driver")),
     )
 
-    return [container, loader]
+    return [container, component_loader, driver_component_loader]
 
 
 def generate_launch_description():
@@ -248,6 +259,8 @@ 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 ROS2 component container communication")
+    add_launch_arg("use_pointcloud_container", "false")
+    add_launch_arg("container_name", "velodyne_node_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",