fix: launch file

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

Author: mitsudome-r

launch/tier4_map_launch/launch/map.launch.xml

@@ -14,10 +14,7 @@
   <arg name="map_projection_loader_param_path"/>
 
   <!-- Dynamic lanelet loading -->
-  <arg name="enable_differential_map_loading"/>
-
-  <!-- whether use intra-process -->
-  <arg name="use_intra_process" default="false"/>
+  <arg name="enable_differential_map_loading" default="false"/>
 
   <!-- select container type -->
   <arg name="use_multithread" default="false" unless="$(var enable_differential_map_loading)"/>
@@ -47,7 +44,6 @@
         <param name="enable_differential_map_loading" value="$(var enable_differential_map_loading)"/>
         <remap from="output/lanelet2_map" to="vector_map"/>
         <remap from="service/get_differential_lanelet_map" to="/map/get_differential_lanelet_map"/>
-        <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
 
       <composable_node
@@ -60,18 +56,16 @@
         <remap from="input/odometry" to="/localization/kinematic_state"/>
         <remap from="output/lanelet2_map" to="dynamic_vector_map"/>
         <remap from="service/get_differential_lanelet_map" to="/map/get_differential_lanelet_map"/>
-        <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
 
       <composable_node pkg="autoware_lanelet2_map_visualizer" plugin="autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode" name="lanelet2_map_visualization">
         <remap from="input/lanelet2_map" to="vector_map"/>
         <remap from="output/lanelet2_map_marker" to="vector_map_marker"/>
       </composable_node>
 
-      <composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="dynamic_lanelet2_map_visualization" if="$(var enable_differential_map_loading)">
+      <composable_node pkg="autoware_lanelet2_map_visualizer" plugin="autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode" name="dynamic_lanelet2_map_visualization" if="$(var enable_differential_map_loading)">
         <remap from="input/lanelet2_map" to="/map/dynamic_vector_map"/>
         <remap from="output/lanelet2_map_marker" to="/map/dynamic_vector_map_marker"/>
-        <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
 
       <composable_node pkg="autoware_map_tf_generator" plugin="autoware::map_tf_generator::VectorMapTFGeneratorNode" name="vector_map_tf_generator">

map/autoware_map_loader/schema/lanelet2_map_loader.schema.json

@@ -26,37 +26,11 @@
           "description": "If true, `centerline` in the Lanelet2 map will be used as a `waypoints` tag.",
           "default": true
         },
-        "lanelet2_map_path": {
+        "lanelet2_map_paths_or_directory": {
           "type": "string",
-          "description": "The lanelet2 map path pointing to the .osm file",
+          "description": "The lanelet2 map path pointing to the .osm file or directory that contains multiple .osm files",
           "default": ""
         },
-        "dummy_metadata": {
-          "type": "object",
-          "properties": {
-            "min_x": {
-              "type": "number",
-              "description": "When the dynamic map loading is true and the map is a single file, this is the minimum x value of the map",
-              "default": "0.0"
-            },
-            "min_y": {
-              "type": "number",
-              "description": "When the dynamic map loading is true and the map is a single file, this is the minimum y value of the map",
-              "default": "0.0"
-            },
-            "x_resolution": {
-              "type": "number",
-              "description": "When the dynamic map loading is true and the map is a single file, this is the resolution of the x axis",
-              "default": "100000.0"
-            },
-            "y_resolution": {
-              "type": "number",
-              "description": "When the dynamic map loading is true and the map is a single file, this is the resolution of the y axis",
-              "default": "100000.0"
-            }
-          },
-          "required": ["min_x", "min_y", "x_resolution", "y_resolution"]
-        }
       },
       "required": ["enable_differential_map_loading", "allow_unsupported_version", "center_line_resolution", "use_waypoints", "lanelet2_map_path"],
       "additionalProperties": false