feat(tier4_perception_launch): declare param path argument (autowarefoundation#1394)

* feat(tier4_perception_launch): declare param path argument

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* Update launch/tier4_perception_launch/launch/perception.launch.xml

* fix ci error

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix ci error

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Author: takayuki5168

launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="tier4_perception_launch_param_path"/>
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="output/objects" default="objects"/>
@@ -42,6 +43,7 @@
   <!-- Pointcloud map filter -->
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
+      <arg name="tier4_perception_launch_param_path" value="$(var tier4_perception_launch_param_path)"/>
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
@@ -224,7 +226,7 @@
     <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
       <arg name="input/object" value="objects_before_filter"/>
       <arg name="output/object" value="$(var output/objects)"/>
-      <arg name="filtering_range_param" value="$(find-pkg-share tier4_perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>
+      <arg name="filtering_range_param" value="$(var tier4_perception_launch_param_path)/object_recognition/detection/object_lanelet_filter.param.yaml"/>
     </include>
   </group>
 </launch>

launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="tier4_perception_launch_param_path"/>
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
 
   <!-- lidar param -->
@@ -61,6 +62,7 @@
   <!-- camera lidar fusion based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
+      <arg name="tier4_perception_launch_param_path" value="$(var tier4_perception_launch_param_path)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
@@ -100,6 +102,7 @@
   <!-- lidar based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
+      <arg name="tier4_perception_launch_param_path" value="$(var tier4_perception_launch_param_path)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>

launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="tier4_perception_launch_param_path"/>
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="output/objects" default="objects"/>
@@ -12,6 +13,7 @@
   <!-- Pointcloud map filter -->
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
+      <arg name="tier4_perception_launch_param_path" value="$(var tier4_perception_launch_param_path)"/>
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
@@ -128,7 +130,7 @@
     <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
       <arg name="input/object" value="objects_before_filter"/>
       <arg name="output/object" value="$(var output/objects)"/>
-      <arg name="filtering_range_param" value="$(find-pkg-share tier4_perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>
+      <arg name="filtering_range_param" value="$(var tier4_perception_launch_param_path)/object_recognition/detection/object_lanelet_filter.param.yaml"/>
     </include>
   </group>
 </launch>

launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py

@@ -13,7 +13,6 @@
 # limitations under the License.
 import os
 
-from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
@@ -30,8 +29,8 @@
 class PointcloudMapFilterPipeline:
     def __init__(self, context):
         pointcloud_map_filter_param_path = os.path.join(
-            get_package_share_directory("tier4_perception_launch"),
-            "config/object_recognition/detection/pointcloud_map_filter.param.yaml",
+            LaunchConfiguration("tier4_perception_launch_param_path").perform(context),
+            "object_recognition/detection/pointcloud_map_filter.param.yaml",
         )
         with open(pointcloud_map_filter_param_path, "r") as f:
             self.pointcloud_map_filter_param = yaml.safe_load(f)["/**"]["ros__parameters"]
@@ -151,6 +150,9 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("container_name", "pointcloud_map_filter_pipeline_container")
+    add_launch_arg(
+        "tier4_perception_launch_param_path", None, "tier4_perception_launch parameter path"
+    )
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",

launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml

@@ -1,8 +1,10 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="tier4_perception_launch_param_path" default="$(find-pkg-share tier4_perception_launch)/config"/>
+
   <group>
     <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
-      <arg name="data_association_matrix_path" value="$(find-pkg-share tier4_perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"/>
+      <arg name="data_association_matrix_path" value="$(var tier4_perception_launch_param_path)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"/>
     </include>
   </group>
 </launch>

launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -13,7 +13,6 @@
 # limitations under the License.
 import os
 
-from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
@@ -34,8 +33,8 @@ def __init__(self, context):
         self.context = context
         self.vehicle_info = self.get_vehicle_info()
         ground_segmentation_param_path = os.path.join(
-            get_package_share_directory("tier4_perception_launch"),
-            "config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml",
+            LaunchConfiguration("tier4_perception_launch_param_path").perform(context),
+            "obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml",
         )
         with open(ground_segmentation_param_path, "r") as f:
             self.ground_segmentation_param = yaml.safe_load(f)["/**"]["ros__parameters"]
@@ -309,7 +308,7 @@ def create_time_series_outlier_filter_components(input_topic, output_topic):
         return components
 
     @staticmethod
-    def create_single_frame_outlier_filter_components(input_topic, output_topic):
+    def create_single_frame_outlier_filter_components(input_topic, output_topic, context):
         components = []
         components.append(
             ComposableNode(
@@ -329,8 +328,9 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic):
                         "inpaint_radius": 1.0,
                         "param_file_path": PathJoinSubstitution(
                             [
-                                FindPackageShare("tier4_perception_launch"),
-                                "config",
+                                LaunchConfiguration("tier4_perception_launch_param_path").perform(
+                                    context
+                                ),
                                 "obstacle_segmentation",
                                 "ground_segmentation",
                                 "elevation_map_parameters.yaml",
@@ -476,6 +476,7 @@ def launch_setup(context, *args, **kwargs):
                 output_topic=relay_topic
                 if pipeline.use_time_series_filter
                 else pipeline.output_topic,
+                context=context,
             )
         )
     if pipeline.use_time_series_filter:
@@ -517,6 +518,9 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("container_name", "perception_pipeline_container")
+    add_launch_arg(
+        "tier4_perception_launch_param_path", None, "tier4_perception_launch parameter path"
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -1,5 +1,8 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- parameter path -->
+  <arg name="tier4_perception_launch_param_path" default="$(find-pkg-share tier4_perception_launch)/config" description="tier4_perception_launch parameter path"/>
+
   <!-- common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml"/>
@@ -40,6 +43,7 @@
     <group>
       <push-ros-namespace namespace="obstacle_segmentation"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
+        <arg name="tier4_perception_launch_param_path" value="$(var tier4_perception_launch_param_path)"/>
         <arg name="base_frame" value="base_link"/>
         <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
         <arg name="use_intra_process" value="true"/>
@@ -71,6 +75,7 @@
       <group>
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
+          <arg name="tier4_perception_launch_param_path" value="$(var tier4_perception_launch_param_path)"/>
           <arg name="mode" value="$(var mode)"/>
           <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
           <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
@@ -99,7 +104,9 @@
       <!-- tracking module -->
       <group>
         <push-ros-namespace namespace="tracking"/>
-        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml"/>
+        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
+          <arg name="tier4_perception_launch_param_path" value="$(var tier4_perception_launch_param_path)"/>
+        </include>
       </group>
       <!-- prediction module -->
       <group>