refactor(autoware_pointcloud_preprocessor/launch): use launch substitution instead of get_package_share_directory (#12395)

refactor: use launch substitution instead of get_package_share_directory

Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp>

Author: paulsohn

sensing/autoware_pointcloud_preprocessor/launch/pointcloud_densifier.launch.py

@@ -12,20 +12,25 @@
 # See the License for the specific language governing permissions and
 # 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.substitutions import LaunchConfiguration
+from launch.substitutions import PathJoinSubstitution
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+from launch_ros.parameter_descriptions import ParameterFile
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
     """Launch the pointcloud densifier node."""
-    pkg_prefix = get_package_share_directory("autoware_pointcloud_preprocessor")
-    config_file = os.path.join(pkg_prefix, "config/pointcloud_densifier.param.yaml")
+    config_file = PathJoinSubstitution(
+        [
+            FindPackageShare("autoware_pointcloud_preprocessor"),
+            "config",
+            "pointcloud_densifier.param.yaml",
+        ]
+    )
 
     input_topic = DeclareLaunchArgument(
         "input_topic",
@@ -48,7 +53,7 @@ def generate_launch_description():
             ("input", LaunchConfiguration("input_topic")),
             ("output", LaunchConfiguration("output_topic")),
         ],
-        parameters=[config_file],
+        parameters=[ParameterFile(config_file)],
     )
 
     # Create container

sensing/autoware_pointcloud_preprocessor/launch/polygon_remover.launch.py

@@ -12,21 +12,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
-
-from ament_index_python.packages import get_package_share_directory
 import launch
+from launch.substitutions import PathJoinSubstitution
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
 from launch_ros.parameter_descriptions import ParameterFile
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
     ns = "pointcloud_preprocessor"
     pkg = "autoware_pointcloud_preprocessor"
 
-    param_file = os.path.join(
-        get_package_share_directory("autoware_vehicle_info_utils"), "config/polygon_remover.yaml"
+    param_file = PathJoinSubstitution(
+        [FindPackageShare("autoware_vehicle_info_utils"), "config", "polygon_remover.yaml"]
     )
 
     my_component = ComposableNode(

sensing/autoware_pointcloud_preprocessor/launch/preprocessor.launch.py

@@ -12,18 +12,17 @@
 # See the License for the specific language governing permissions and
 # 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 LogInfo
 from launch.actions import OpaqueFunction
 from launch.substitutions import LaunchConfiguration
+from launch.substitutions import PathJoinSubstitution
 from launch.substitutions import PythonExpression
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
 from launch_ros.parameter_descriptions import ParameterFile
+from launch_ros.substitutions import FindPackageShare
 
 
 def launch_setup(context, *args, **kwargs):
@@ -165,9 +164,6 @@ def launch_setup(context, *args, **kwargs):
 
 def generate_launch_description():
     launch_arguments = []
-    autoware_pointcloud_preprocessor_share_dir = get_package_share_directory(
-        "autoware_pointcloud_preprocessor"
-    )
 
     def add_launch_arg(name: str, default_value=None, description=None):
         # a default_value of None is equivalent to not passing that kwarg at all
@@ -185,37 +181,45 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("tf_output_frame", "base_link")
     add_launch_arg(
         "concatenate_and_time_sync_node_param_path",
-        os.path.join(
-            autoware_pointcloud_preprocessor_share_dir,
-            "config",
-            "concatenate_and_time_sync_node.param.yaml",
+        PathJoinSubstitution(
+            [
+                FindPackageShare("autoware_pointcloud_preprocessor"),
+                "config",
+                "concatenate_and_time_sync_node.param.yaml",
+            ]
         ),
         description="path to parameter file of concatenate and time sync node",
     )
     add_launch_arg(
         "concatenate_pointclouds_node_param_path",
-        os.path.join(
-            autoware_pointcloud_preprocessor_share_dir,
-            "config",
-            "concatenate_pointclouds.param.yaml",
+        PathJoinSubstitution(
+            [
+                FindPackageShare("autoware_pointcloud_preprocessor"),
+                "config",
+                "concatenate_pointclouds.param.yaml",
+            ]
         ),
         description="path to parameter file of concatenate pointclouds node",
     )
     add_launch_arg(
         "time_synchronizer_node_param_path",
-        os.path.join(
-            autoware_pointcloud_preprocessor_share_dir,
-            "config",
-            "time_synchronizer_node.param.yaml",
+        PathJoinSubstitution(
+            [
+                FindPackageShare("autoware_pointcloud_preprocessor"),
+                "config",
+                "time_synchronizer_node.param.yaml",
+            ]
         ),
         description="path to parameter file of time synchronizer node",
     )
     add_launch_arg(
         "crop_box_filter_node_param_path",
-        os.path.join(
-            autoware_pointcloud_preprocessor_share_dir,
-            "config",
-            "crop_box_filter_node.param.yaml",
+        PathJoinSubstitution(
+            [
+                FindPackageShare("autoware_pointcloud_preprocessor"),
+                "config",
+                "crop_box_filter_node.param.yaml",
+            ]
         ),
         description="path to parameter file of crop box filter node",
     )