From ca2fe89568dd067526aa48d060ea36beb77cc644 Mon Sep 17 00:00:00 2001
From: Shin-kyoto <aquashin0202@gmail.com>
Date: Mon, 13 Nov 2023 21:47:41 +0900
Subject: [PATCH] fix: modify mistakes about glog component

Signed-off-by: Shin-kyoto <aquashin0202@gmail.com>
---
 .../launch/pointcloud_preprocessor.launch.py     | 16 ++++++++--------
 .../launch/pointcloud_preprocessor.launch.py     | 16 ++++++++--------
 .../launch/pointcloud_preprocessor.launch.py     | 16 ++++++++--------
 3 files changed, 24 insertions(+), 24 deletions(-)

diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
index 6eb2ca76..3f9c9ad1 100644
--- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -50,13 +50,19 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+    )
+
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name=LaunchConfiguration("container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[],
+        composable_node_descriptions=[glog_component],
         condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
@@ -67,15 +73,9 @@ def launch_setup(context, *args, **kwargs):
         else LaunchConfiguration("container_name")
     )
 
-    glog_component = ComposableNode(
-        package="glog_component",
-        plugin="GlogComponent",
-        name="glog_component",
-    )
-
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component, glog_component],
+        composable_node_descriptions=[concat_component],
         target_container=target_container,
     )
 
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index d86c794f..71c9eee2 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -56,13 +56,19 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+    )
+
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name=LaunchConfiguration("container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[],
+        composable_node_descriptions=[glog_component],
         condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
@@ -73,15 +79,9 @@ def launch_setup(context, *args, **kwargs):
         else LaunchConfiguration("container_name")
     )
 
-    glog_component = ComposableNode(
-        package="glog_component",
-        plugin="GlogComponent",
-        name="glog_component",
-    )
-
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component, glog_component],
+        composable_node_descriptions=[concat_component],
         target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index 26787674..39d16923 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -57,13 +57,19 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+    )
+
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name=LaunchConfiguration("container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[],
+        composable_node_descriptions=[glog_component],
         condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
@@ -74,15 +80,9 @@ def launch_setup(context, *args, **kwargs):
         else LaunchConfiguration("container_name")
     )
 
-    glog_component = ComposableNode(
-        package="glog_component",
-        plugin="GlogComponent",
-        name="glog_component",
-    )
-
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component, glog_component],
+        composable_node_descriptions=[concat_component],
         target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )