refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory#12392
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paulsohn merged 6 commits intoautowarefoundation:mainfrom Apr 3, 2026
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Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp>
Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp>
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #12392 +/- ##
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- Coverage 19.18% 19.12% -0.07%
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Files 1892 1890 -2
Lines 130117 129796 -321
Branches 46611 48073 +1462
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- Hits 24965 24823 -142
- Misses 85580 86099 +519
+ Partials 19572 18874 -698
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confirmed no error when run
$ ros2 launch autoware_ground_segmentation scan_ground_filter.launch.py
$ ros2 launch autoware_probabilistic_occupancy_grid_map laserscan_based_occupancy_grid_map.launch.py
$ ros2 launch autoware_probabilistic_occupancy_grid_map multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
$ ros2 launch autoware_probabilistic_occupancy_grid_map pointcloud_based_occupancy_grid_map.launch.py
LGTM (regarding autowaer_ground_segmentation)
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…occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory (#12392) * refactor: use launch substitution instead of get_package_share_directory Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp> * use existing file for default Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp> --------- Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp>
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Description
Use high-level API:
FindPackageSharefromlaunch.substitutionsandPathJointSubstitutionfromlaunch_ros.substitutionsinlaunch.pyfiles, instead of rawament_index_pythonandos.path.join.Also, obsolote default of
updater_param_fileinperception/autoware_probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.pyis updated to"binary_bayes_filter_updater.param.yaml".This PR aims to follow proper semantics of launcher system which is open to the launcher-specific tooling / analysis, without handling the full python semantics itself.
Will make a separate PR for sensing-related refactor.
Related links
autowarefoundation/autoware_launch#1762
autowarefoundation/autoware_launch#1799
How was this PR tested?
Built and ran all four: no launcher-side error was found.
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None. When launched with standard
ros2 launch, this should give identical result before and after the PR.The only difference is that default value of
updater_param_fileis no longer"updater.param.yaml"(which is incorrect, as the file does not exist) but existing"binary_bayes_filter_updater.param.yaml".