refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory

perception/autoware_ground_segmentation/launch/scan_ground_filter.launch.py

@@ -12,19 +12,18 @@
 # 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 GroupAction
 from launch.actions import OpaqueFunction
 from launch.conditions import LaunchConfigurationEquals
 from launch.conditions import LaunchConfigurationNotEquals
 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
 import yaml
 
 
@@ -33,11 +32,13 @@ def launch_setup(context, *args, **kwargs):
     with open(vehicle_info_param_path, "r") as f:
         vehicle_info_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
-    ground_segmentation_param_path = os.path.join(
-        get_package_share_directory("autoware_ground_segmentation"),
-        "config",
-        "ground_segmentation.param.yaml",
-    )
+    ground_segmentation_param_path = PathJoinSubstitution(
+        [
+            FindPackageShare("autoware_ground_segmentation"),
+            "config",
+            "ground_segmentation.param.yaml",
+        ]
+    ).perform(context)
 
     with open(ground_segmentation_param_path, "r") as f:
         ground_segmentation_param = yaml.safe_load(f)["/**"]["ros__parameters"]
@@ -90,13 +91,11 @@ def generate_launch_description():
     def add_launch_arg(name: str, default_value=None):
         return DeclareLaunchArgument(name, default_value=default_value)
 
-    default_vehicle_info_param = os.path.join(
-        get_package_share_directory("autoware_vehicle_info_utils"), "config/vehicle_info.param.yaml"
-    )
-
     vehicle_info_param = DeclareLaunchArgument(
         "vehicle_info_param_file",
-        default_value=default_vehicle_info_param,
+        default_value=PathJoinSubstitution(
+            [FindPackageShare("autoware_vehicle_info_utils"), "config", "vehicle_info.param.yaml"]
+        ),
         description="Path to config file for vehicle information",
     )
 

perception/autoware_probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py

@@ -12,17 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
 from launch.actions import SetLaunchConfiguration
 from launch.conditions import IfCondition
 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
 import yaml
 
 
@@ -162,14 +163,24 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("output/stixel", "virtual_scan/stixel"),
             add_launch_arg(
                 "param_file",
-                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
-                + "/config/laserscan_based_occupancy_grid_map.param.yaml",
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("autoware_probabilistic_occupancy_grid_map"),
+                        "config",
+                        "laserscan_based_occupancy_grid_map.param.yaml",
+                    ]
+                ),
             ),
             add_launch_arg("updater_type", "binary_bayes_filter"),
             add_launch_arg(
                 "updater_param_file",
-                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
-                + "/config/updater.param.yaml",
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("autoware_probabilistic_occupancy_grid_map"),
+                        "config",
+                        "binary_bayes_filter_updater.param.yaml",
+                    ]
+                ),
             ),
             add_launch_arg("input_obstacle_pointcloud", "false"),
             add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),

perception/autoware_probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py

@@ -13,17 +13,18 @@
 # limitations under the License.
 
 
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
 from launch.actions import SetLaunchConfiguration
 from launch.conditions import IfCondition
 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
 import yaml
 
 # In this file, we use "ogm" as a meaning of occupancy grid map
@@ -275,14 +276,24 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("output", "occupancy_grid"),
             add_launch_arg(
                 "multi_lidar_fusion_config_file",
-                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
-                + "/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml",
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("autoware_probabilistic_occupancy_grid_map"),
+                        "config",
+                        "multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml",
+                    ]
+                ),
             ),
             add_launch_arg("updater_type", "binary_bayes_filter"),
             add_launch_arg(
                 "updater_param_file",
-                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
-                + "/config/binary_bayes_filter_updater.param.yaml",
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("autoware_probabilistic_occupancy_grid_map"),
+                        "config",
+                        "binary_bayes_filter_updater.param.yaml",
+                    ]
+                ),
             ),
             set_container_executable,
             set_container_mt_executable,

perception/autoware_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py

@@ -12,17 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
 from launch.actions import SetLaunchConfiguration
 from launch.conditions import IfCondition
 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
 import yaml
 
 
@@ -173,14 +174,24 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("output", "occupancy_grid"),
             add_launch_arg(
                 "param_file",
-                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
-                + "/config/pointcloud_based_occupancy_grid_map.param.yaml",
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("autoware_probabilistic_occupancy_grid_map"),
+                        "config",
+                        "pointcloud_based_occupancy_grid_map.param.yaml",
+                    ]
+                ),
             ),
             add_launch_arg("updater_type", "binary_bayes_filter"),
             add_launch_arg(
                 "updater_param_file",
-                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
-                + "/config/binary_bayes_filter_updater.param.yaml",
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("autoware_probabilistic_occupancy_grid_map"),
+                        "config",
+                        "binary_bayes_filter_updater.param.yaml",
+                    ]
+                ),
             ),
             set_container_executable,
             set_container_mt_executable,