added point_type_adapter to launch with point_cloud_fusion in single …

…composable node container

AutowareAuto/src/perception/filters/point_cloud_fusion_nodes/launch/point_cloud_fusion.launch.py

@@ -1,13 +1,13 @@
 # Copyright (C) 2024 LEIDOS.
 #
-# Licensed under the Apache License, Version 2.0 (the "License"); you may not
+# Licensed under the Apache License, Version 2.0 (the 'License'); you may not
 # use this file except in compliance with the License. You may obtain a copy of
 # the License at
 #
 # http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# distributed under the License is distributed on an 'AS IS' BASIS, WITHOUT
 # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 # License for the specific language governing permissions and limitations under
 # the License.
@@ -16,7 +16,9 @@
 # consisting of two Velodyne LiDARs
 
 import launch
-from launch_ros.actions import Node
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from carma_ros2_utils.launch.get_current_namespace import GetCurrentNamespace
 from ament_index_python import get_package_share_directory
 
 import os
@@ -27,15 +29,39 @@
 
 
 def generate_launch_description():
-    point_cloud_fusion_nodes = Node(
-        package='point_cloud_fusion_nodes',
-        executable='pointcloud_fusion_node_exe',
-        parameters=[point_cloud_fusion_node_param_file],
-        remappings=[
-            ("output_topic", "lidar/points_raw"),
-            ("input_topic1", "velodyne_1/lidar/points_xyzi"),
-            ("input_topic2", "velodyne_2/lidar/points_xyzi")
+
+    point_cloud_fusion_container = ComposableNodeContainer(
+        package='carma_ros2_utils', # rclcpp_components
+        name='point_cloud_fusion_container',
+        executable='lifecycle_component_wrapper_mt',
+        namespace=GetCurrentNamespace(),
+        composable_node_descriptions=[
+            ComposableNode(
+                package='point_cloud_fusion_nodes',
+                plugin='autoware::perception::filters::point_cloud_fusion_nodes::PointCloudFusionNode',
+                name='point_cloud_fusion_node',
+                parameters=[point_cloud_fusion_node_param_file],
+                remappings=[
+                    ('output_topic', 'lidar/points_raw'),
+                    ('input_topic1', 'velodyne_1/lidar/points_xyzi'),
+                    ('input_topic2', 'velodyne_2/lidar/points_xyzi')
+                ]
+            ),
+            ComposableNode(
+                package='point_type_adapter',
+                plugin='autoware::tools::point_type_adapter::PointTypeAdapterNode',
+                name='velodyne_1/point_type_adapter_node',
+                remappings=[('points_raw', 'velodyne_1/lidar/points_raw'),
+                            ('points_xyzi', 'velodyne_1/lidar/points_xyzi')]
+            ),
+            ComposableNode(
+                package='point_type_adapter',
+                plugin='autoware::tools::point_type_adapter::PointTypeAdapterNode',
+                name='velodyne_2/point_type_adapter_node',
+                remappings=[('points_raw', 'velodyne_2/lidar/points_raw'),
+                            ('points_xyzi', 'velodyne_2/lidar/points_xyzi')],
+            )
         ]
     )
 
-    return launch.LaunchDescription([point_cloud_fusion_nodes])
+    return launch.LaunchDescription([point_cloud_fusion_container])

AutowareAuto/src/perception/filters/point_cloud_fusion_nodes/package.xml

@@ -19,6 +19,8 @@
     <depend>tf2_ros</depend>
     <depend>tf2_geometry_msgs</depend>
     <depend>tf2_sensor_msgs</depend>
+    <depend>carma_ros2_utils</depend>
+    <depend>point_type_adapter</depend>
 
     <build_depend>eigen</build_depend>
     <build_depend>autoware_auto_common</build_depend>