refactor(autoware_pointcloud_preprocessor/launch): use launch substitution instead of get_package_share_directory#12395
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paulsohn merged 2 commits intoautowarefoundation:mainfrom Apr 9, 2026
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Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp>
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## main #12395 +/- ##
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Description
Use high-level API:
FindPackageSharefromlaunch.substitutionsandPathJointSubstitutionfromlaunch_ros.substitutionsinlaunch.pyfiles, instead of rawament_index_pythonandos.path.join.This PR aims to follow proper (opaque) semantics of launcher system, separating from the python semantics itself.
Related links
autowarefoundation/autoware_launch#1762
autowarefoundation/autoware_launch#1799
How was this PR tested?
Ran all three with defaults:
$ ros2 launch autoware_pointcloud_preprocessor pointcloud_densifier.launch.py $ ros2 launch autoware_pointcloud_preprocessor polygon_remover.launch.py $ ros2 launch autoware_pointcloud_preprocessor preprocessor.launch.py # errorsOnly the last one errors but this is likely irrelevant to this PR. It fails on main as well. I won't do the fix in this PR.
The other two launcher do not have any launcher-side errors.
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.