From e46c966aac2f015c2a38222fe29993204f348b69 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Fri, 19 Jan 2024 10:59:52 +0900
Subject: [PATCH 1/6] feat!: remove use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 ...ra_lidar_fusion_based_detection.launch.xml |  2 -
 ...ar_radar_fusion_based_detection.launch.xml |  2 -
 .../detection/detection.launch.xml            |  5 --
 .../lidar_based_detection.launch.xml          |  2 -
 .../lidar_radar_based_detection.launch.xml    |  2 -
 .../detection/pointcloud_map_filter.launch.py | 14 +---
 .../ground_segmentation.launch.py             | 14 +---
 ...robabilistic_occupancy_grid_map.launch.xml |  4 -
 .../launch/perception.launch.xml              |  4 -
 .../behavior_planning.launch.xml              | 75 ++++++-------------
 .../launch/sensing.launch.xml                 |  2 -
 .../README.md                                 |  1 -
 ...serscan_based_occupancy_grid_map.launch.py | 15 +---
 ...ntcloud_based_occupancy_grid_map.launch.py | 15 +---
 .../synchronized_grid_map_fusion.md           |  2 -
 15 files changed, 26 insertions(+), 133 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 4cb648852a03..80d80ed7741c 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -10,7 +10,6 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="score_threshold" default="0.35"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="use_roi_based_cluster" default="false"/>
 
@@ -61,7 +60,6 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <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)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index ba86bc1e334f..be26eac915a0 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -12,7 +12,6 @@
   <arg name="lidar_detection_score_threshold" default="0.35"/>
 
   <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="remove_unknown" default="true"/>
   <arg name="fusion_distance" default="100.0"/>
@@ -90,7 +89,6 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <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)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 885fa80ed700..f3ab2066cddb 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -7,7 +7,6 @@
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <!-- Camera parameters -->
@@ -58,7 +57,6 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
@@ -95,7 +93,6 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
@@ -110,7 +107,6 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
@@ -125,7 +121,6 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 04c4264b70e5..fde8f566514d 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -5,7 +5,6 @@
   <arg name="output/objects" default="objects"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
@@ -24,7 +23,6 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <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)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
index adedc2312677..51ed52895730 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -4,7 +4,6 @@
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
 
@@ -22,7 +21,6 @@
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
index 1dcb9cfc90da..f44de4da7453 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
@@ -140,21 +140,11 @@ def launch_setup(context, *args, **kwargs):
     pipeline = PointcloudMapFilterPipeline(context)
     components = []
     components.extend(pipeline.create_pipeline())
-    individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=components,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
     pointcloud_container_loader = LoadComposableNodes(
         composable_node_descriptions=components,
         target_container=LaunchConfiguration("pointcloud_container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
-    return [individual_container, pointcloud_container_loader]
+    return [pointcloud_container_loader]
 
 
 def generate_launch_description():
@@ -167,9 +157,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("output_topic", "")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "True")
-    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg("individual_container_name", "pointcloud_map_filter_container")
     add_launch_arg("use_pointcloud_map", "true")
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index b54172acd4af..2f548d0b0173 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -510,21 +510,11 @@ def launch_setup(context, *args, **kwargs):
                 output_topic=pipeline.output_topic,
             )
         )
-    individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=components,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
     pointcloud_container_loader = LoadComposableNodes(
         composable_node_descriptions=components,
         target_container=LaunchConfiguration("pointcloud_container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
-    return [individual_container, pointcloud_container_loader]
+    return [pointcloud_container_loader]
 
 
 def generate_launch_description():
@@ -536,9 +526,7 @@ 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", "True")
-    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg("individual_container_name", "ground_segmentation_container")
     add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")
 
     set_container_executable = SetLaunchConfiguration(
diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
index 244e0940acb7..72423cc85280 100644
--- a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
+++ b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
@@ -6,7 +6,6 @@
   <arg name="output" default="/perception/occupancy_grid_map/map"/>
   <arg name="use_intra_process" default="false"/>
   <arg name="use_multithread" default="false"/>
-  <arg name="use_pointcloud_container" default="false"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="occupancy_grid_map_method" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map, multi_lidar_pointcloud_based_occupancy_grid_map"/>
   <arg name="occupancy_grid_map_param_path"/>
@@ -23,7 +22,6 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
@@ -39,7 +37,6 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
@@ -55,7 +52,6 @@
       <arg name="output" value="/perception/occupancy_grid_map/map"/>
       <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)"/>
       <arg name="multi_lidar_fusion_config_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 528038c5158b..13e2d17bbcbe 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -77,7 +77,6 @@
     default="false"
     description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
   />
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="objects_filter_method" default="lanelet_filter"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
@@ -126,7 +125,6 @@
         <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)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       </include>
@@ -141,7 +139,6 @@
         <arg name="output" value="/perception/occupancy_grid_map/map"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
         <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
         <arg name="occupancy_grid_map_param_path" value="$(var occupancy_grid_map_param_path)"/>
@@ -192,7 +189,6 @@
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
-          <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
           <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
         </include>
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index 1c7643359c49..18a4110da224 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -259,59 +259,28 @@
   </node_container>
 
   <group if="$(var launch_compare_map_pipeline)">
-    <group if="$(var use_pointcloud_container)">
-      <!-- use pointcloud container -->
-      <load_composable_node target="$(var pointcloud_container_name)">
-        <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
-          <remap from="kinematic_state" to="/localization/kinematic_state"/>
-          <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
-          <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
-          <remap from="output" to="compare_map_filtered/pointcloud"/>
-          <!-- params -->
-          <param from="$(var compare_map_filter_param_path)"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
+    <!-- use pointcloud container -->
+    <load_composable_node target="$(var pointcloud_container_name)">
+      <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
+        <!-- topic remap -->
+        <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
+        <remap from="kinematic_state" to="/localization/kinematic_state"/>
+        <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
+        <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
+        <remap from="output" to="compare_map_filtered/pointcloud"/>
+        <!-- params -->
+        <param from="$(var compare_map_filter_param_path)"/>
+        <extra_arg name="use_intra_process_comms" value="false"/>
+      </composable_node>
 
-        <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
-          <remap from="input" to="compare_map_filtered/pointcloud"/>
-          <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
-          <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
-      </load_composable_node>
-    </group>
-
-    <group unless="$(var use_pointcloud_container)">
-      <!-- launch new container -->
-      <node_container pkg="rclcpp_components" exec="$(var container_type)" name="compare_map_container" namespace="" args="">
-        <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
-          <remap from="kinematic_state" to="/localization/kinematic_state"/>
-          <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
-          <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
-          <remap from="output" to="compare_map_filtered/pointcloud"/>
-          <!-- params -->
-          <param from="$(var compare_map_filter_param_path)"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
-
-        <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
-          <!-- topic remap -->
-          <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
-          <remap from="input" to="compare_map_filtered/pointcloud"/>
-          <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
-          <!-- params -->
-          <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
-          <extra_arg name="use_intra_process_comms" value="false"/>
-        </composable_node>
-
-        <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
-      </node_container>
-    </group>
+      <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
+        <!-- topic remap -->
+        <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
+        <remap from="input" to="compare_map_filtered/pointcloud"/>
+        <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
+        <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
+        <extra_arg name="use_intra_process_comms" value="false"/>
+      </composable_node>
+    </load_composable_node>
   </group>
 </launch>
diff --git a/launch/tier4_sensing_launch/launch/sensing.launch.xml b/launch/tier4_sensing_launch/launch/sensing.launch.xml
index af9e4481a143..391a1f8bad64 100644
--- a/launch/tier4_sensing_launch/launch/sensing.launch.xml
+++ b/launch/tier4_sensing_launch/launch/sensing.launch.xml
@@ -2,7 +2,6 @@
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="vehicle_mirror_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_mirror.param.yaml" 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"/>
 
   <let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
@@ -14,7 +13,6 @@
     <include file="$(var sensor_launch_pkg)/launch/sensing.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>
   </group>
diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/probabilistic_occupancy_grid_map/README.md
index 084c55d80d62..64486a46a34e 100644
--- a/perception/probabilistic_occupancy_grid_map/README.md
+++ b/perception/probabilistic_occupancy_grid_map/README.md
@@ -67,7 +67,6 @@ Additional argument is shown below:
 | `map_origin`                        | ``                             | parameter to override `map_origin_frame` which means grid map origin                          |
 | `scan_origin`                       | ``                             | parameter to override `scan_origin_frame` which means scanning center                         |
 | `output`                            | `occupancy_grid`               | output name                                                                                   |
-| `use_pointcloud_container`          | `false`                        |                                                                                               |
 | `container_name`                    | `occupancy_grid_map_container` |                                                                                               |
 | `input_obstacle_pointcloud`         | `false`                        | only for laserscan based method. If true, the node subscribe obstacle pointcloud              |
 | `input_obstacle_and_raw_pointcloud` | `true`                         | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud |
diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
index 62cfa4bcb522..232019b84573 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
@@ -114,23 +114,12 @@ def launch_setup(context, *args, **kwargs):
         ),
     ]
 
-    occupancy_grid_map_container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=composable_nodes,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
     load_composable_nodes = LoadComposableNodes(
         composable_node_descriptions=composable_nodes,
         target_container=LaunchConfiguration("pointcloud_container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
-    return [occupancy_grid_map_container, load_composable_nodes]
+    return [load_composable_nodes]
 
 
 def generate_launch_description():
@@ -173,9 +162,7 @@ def add_launch_arg(name: str, default_value=None):
             ),
             add_launch_arg("input_obstacle_pointcloud", "false"),
             add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),
-            add_launch_arg("use_pointcloud_container", "false"),
             add_launch_arg("pointcloud_container_name", "pointcloud_container"),
-            add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
             set_container_executable,
             set_container_mt_executable,
         ]
diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
index 29435c4ea8e2..a6a40ea5e690 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
@@ -63,23 +63,12 @@ def launch_setup(context, *args, **kwargs):
         ),
     ]
 
-    occupancy_grid_map_container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=composable_nodes,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
     load_composable_nodes = LoadComposableNodes(
         composable_node_descriptions=composable_nodes,
         target_container=LaunchConfiguration("pointcloud_container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
-    return [occupancy_grid_map_container, load_composable_nodes]
+    return [load_composable_nodes]
 
 
 def generate_launch_description():
@@ -102,9 +91,7 @@ def add_launch_arg(name: str, default_value=None):
         [
             add_launch_arg("use_multithread", "false"),
             add_launch_arg("use_intra_process", "true"),
-            add_launch_arg("use_pointcloud_container", "false"),
             add_launch_arg("pointcloud_container_name", "pointcloud_container"),
-            add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
             add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
             add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"),
             add_launch_arg("output", "occupancy_grid"),
diff --git a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md b/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
index 6f4d4e22aa26..9f4b414a8509 100644
--- a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
+++ b/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
@@ -104,7 +104,6 @@ You need to generate OGMs in each sensor frame before achieving grid map fusion.
     <arg name="scan_origin" value="velodyne_right"/>
     <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)"/>
     <arg name="method" value="pointcloud_based_occupancy_grid_map"/>
     <arg name="param_file" value="$(find-pkg-share probabilistic_occupancy_grid_map)/config/pointcloud_based_occupancy_grid_map_fusion.param.yaml"/>
@@ -145,7 +144,6 @@ You can include this launch file like the following.
   <arg name="output" value="/perception/occupancy_grid_map/fusion/map"/>
   <arg name="use_intra_process" value="true"/>
   <arg name="use_multithread" value="true"/>
-  <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
   <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   <arg name="method" value="pointcloud_based_occupancy_grid_map"/>
   <arg name="fusion_config_file" value="$(var fusion_config_file)"/>

From c59de3de927a41afafa8a2d94ead09fc32ce0d1f Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Fri, 19 Jan 2024 11:18:42 +0900
Subject: [PATCH 2/6] fix pre-commit

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../object_recognition/detection/pointcloud_map_filter.launch.py | 1 -
 .../ground_segmentation/ground_segmentation.launch.py            | 1 -
 .../launch/laserscan_based_occupancy_grid_map.launch.py          | 1 -
 .../launch/pointcloud_based_occupancy_grid_map.launch.py         | 1 -
 4 files changed, 4 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
index f44de4da7453..a5af24595c59 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
@@ -20,7 +20,6 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 import yaml
diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index 2f548d0b0173..a0b4b6604736 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -21,7 +21,6 @@
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch.substitutions import PathJoinSubstitution
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 from launch_ros.substitutions import FindPackageShare
diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
index 232019b84573..d1a9a463f6f8 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
@@ -20,7 +20,6 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 import yaml
diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
index a6a40ea5e690..c7a83c6f4194 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
@@ -20,7 +20,6 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 import yaml

From ead51aa33aeb56f0f7d22a4243cd0530ddb8ced3 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Mon, 29 Jan 2024 13:48:33 +0900
Subject: [PATCH 3/6] fix: completely remove use_pointcloud_container after
 merge main

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/object_recognition/detection/detection.launch.xml    | 2 --
 .../detection/detector/lidar_rule_detector.launch.xml           | 2 --
 2 files changed, 4 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 5d7e3e397108..94a94a4454c2 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -188,7 +188,6 @@
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
     <!-- Lidar object merger -->
@@ -217,7 +216,6 @@
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
     <!-- Lidar object merger -->
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
index ce34640bd317..34427c0da656 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -3,7 +3,6 @@
   <!-- Lidar parameters -->
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
 
   <!-- Pointcloud filter -->
   <group>
@@ -12,7 +11,6 @@
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <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)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>

From 02f7f4af684f9d3b7e3f5e6a7d2879105bf5c4a3 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Fri, 2 Feb 2024 08:49:01 +0900
Subject: [PATCH 4/6] fix: set use_pointcloud_container = true

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../detection/detector/camera_lidar_detector.launch.xml         | 2 +-
 .../detection/detector/lidar_dnn_detector.launch.xml            | 2 +-
 .../detection/detector/lidar_rule_detector.launch.xml           | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 44a1673a476e..1e14ae9379a4 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -85,7 +85,7 @@
       <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
 
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index 5b5fabd4dd88..92ff23d050e3 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -23,7 +23,7 @@
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
         <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
 
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_pointcloud_container" value="true"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
index 30835c127b93..0fabd5e98e45 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -25,7 +25,7 @@
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
 
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_pointcloud_container" value="true"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>

From f096ecd0edf8b2e7a693c0b589ca7e0575f4dca4 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Fri, 2 Feb 2024 08:49:39 +0900
Subject: [PATCH 5/6] revert: revert change in probabilistic_occupancy_grid_map

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../probabilistic_occupancy_grid_map/README.md   |  1 +
 .../laserscan_based_occupancy_grid_map.launch.py | 16 +++++++++++++++-
 ...pointcloud_based_occupancy_grid_map.launch.py | 16 +++++++++++++++-
 .../synchronized_grid_map_fusion.md              |  2 ++
 4 files changed, 33 insertions(+), 2 deletions(-)

diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/probabilistic_occupancy_grid_map/README.md
index 64486a46a34e..084c55d80d62 100644
--- a/perception/probabilistic_occupancy_grid_map/README.md
+++ b/perception/probabilistic_occupancy_grid_map/README.md
@@ -67,6 +67,7 @@ Additional argument is shown below:
 | `map_origin`                        | ``                             | parameter to override `map_origin_frame` which means grid map origin                          |
 | `scan_origin`                       | ``                             | parameter to override `scan_origin_frame` which means scanning center                         |
 | `output`                            | `occupancy_grid`               | output name                                                                                   |
+| `use_pointcloud_container`          | `false`                        |                                                                                               |
 | `container_name`                    | `occupancy_grid_map_container` |                                                                                               |
 | `input_obstacle_pointcloud`         | `false`                        | only for laserscan based method. If true, the node subscribe obstacle pointcloud              |
 | `input_obstacle_and_raw_pointcloud` | `true`                         | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud |
diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
index d1a9a463f6f8..62cfa4bcb522 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
@@ -20,6 +20,7 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 import yaml
@@ -113,12 +114,23 @@ def launch_setup(context, *args, **kwargs):
         ),
     ]
 
+    occupancy_grid_map_container = ComposableNodeContainer(
+        name=LaunchConfiguration("individual_container_name"),
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=composable_nodes,
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        output="screen",
+    )
+
     load_composable_nodes = LoadComposableNodes(
         composable_node_descriptions=composable_nodes,
         target_container=LaunchConfiguration("pointcloud_container_name"),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
-    return [load_composable_nodes]
+    return [occupancy_grid_map_container, load_composable_nodes]
 
 
 def generate_launch_description():
@@ -161,7 +173,9 @@ def add_launch_arg(name: str, default_value=None):
             ),
             add_launch_arg("input_obstacle_pointcloud", "false"),
             add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),
+            add_launch_arg("use_pointcloud_container", "false"),
             add_launch_arg("pointcloud_container_name", "pointcloud_container"),
+            add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
             set_container_executable,
             set_container_mt_executable,
         ]
diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
index c7a83c6f4194..29435c4ea8e2 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
@@ -20,6 +20,7 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 import yaml
@@ -62,12 +63,23 @@ def launch_setup(context, *args, **kwargs):
         ),
     ]
 
+    occupancy_grid_map_container = ComposableNodeContainer(
+        name=LaunchConfiguration("individual_container_name"),
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=composable_nodes,
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        output="screen",
+    )
+
     load_composable_nodes = LoadComposableNodes(
         composable_node_descriptions=composable_nodes,
         target_container=LaunchConfiguration("pointcloud_container_name"),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
-    return [load_composable_nodes]
+    return [occupancy_grid_map_container, load_composable_nodes]
 
 
 def generate_launch_description():
@@ -90,7 +102,9 @@ def add_launch_arg(name: str, default_value=None):
         [
             add_launch_arg("use_multithread", "false"),
             add_launch_arg("use_intra_process", "true"),
+            add_launch_arg("use_pointcloud_container", "false"),
             add_launch_arg("pointcloud_container_name", "pointcloud_container"),
+            add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
             add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
             add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"),
             add_launch_arg("output", "occupancy_grid"),
diff --git a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md b/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
index 9f4b414a8509..6f4d4e22aa26 100644
--- a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
+++ b/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
@@ -104,6 +104,7 @@ You need to generate OGMs in each sensor frame before achieving grid map fusion.
     <arg name="scan_origin" value="velodyne_right"/>
     <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)"/>
     <arg name="method" value="pointcloud_based_occupancy_grid_map"/>
     <arg name="param_file" value="$(find-pkg-share probabilistic_occupancy_grid_map)/config/pointcloud_based_occupancy_grid_map_fusion.param.yaml"/>
@@ -144,6 +145,7 @@ You can include this launch file like the following.
   <arg name="output" value="/perception/occupancy_grid_map/fusion/map"/>
   <arg name="use_intra_process" value="true"/>
   <arg name="use_multithread" value="true"/>
+  <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
   <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   <arg name="method" value="pointcloud_based_occupancy_grid_map"/>
   <arg name="fusion_config_file" value="$(var fusion_config_file)"/>

From 2f941ac2448838ecf36bea7a71c7b6bf2c8d3b5d Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Fri, 2 Feb 2024 08:51:19 +0900
Subject: [PATCH 6/6] revert change in launcher of ogm

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../probabilistic_occupancy_grid_map.launch.xml                | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
index 72423cc85280..fce3da96ce88 100644
--- a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
+++ b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
@@ -22,6 +22,7 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
+      <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
@@ -37,6 +38,7 @@
       <arg name="output" value="$(var output)"/>
       <arg name="use_intra_process" value="$(var use_intra_process)"/>
       <arg name="use_multithread" value="$(var use_multithread)"/>
+      <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
@@ -52,6 +54,7 @@
       <arg name="output" value="/perception/occupancy_grid_map/map"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
+      <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="multi_lidar_fusion_config_file" value="$(var occupancy_grid_map_param_path)"/>
       <arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>