roi_pointcloud_fusion.launch.xml

<launch>
  <arg name="pointcloud_container_name" default="pointcloud_container"/>
  <arg name="input/rois_number" default="6"/>
  <arg name="input/rois0" default="rois0"/>
  <arg name="input/camera_info0" default="/camera_info0"/>
  <arg name="input/rois1" default="rois1"/>
  <arg name="input/camera_info1" default="/camera_info1"/>
  <arg name="input/rois2" default="rois2"/>
  <arg name="input/camera_info2" default="/camera_info2"/>
  <arg name="input/rois3" default="rois3"/>
  <arg name="input/camera_info3" default="/camera_info3"/>
  <arg name="input/rois4" default="rois4"/>
  <arg name="input/camera_info4" default="/camera_info4"/>
  <arg name="input/rois5" default="rois5"/>
  <arg name="input/camera_info5" default="/camera_info5"/>
  <arg name="input/rois6" default="rois6"/>
  <arg name="input/camera_info6" default="/camera_info6"/>
  <arg name="input/rois7" default="rois7"/>
  <arg name="input/camera_info7" default="/camera_info7"/>
  <arg name="input/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
  <arg name="output/clusters" default="output/clusters"/>
  <arg name="debug/clusters" default="roi_pointcloud_fusion/debug/clusters"/>
  <arg name="param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/roi_pointcloud_fusion.param.yaml"/>
  <arg name="sync_param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/fusion_common.param.yaml"/>

  <!-- for eval variable-->
  <arg name="input_rois_number" default="$(var input/rois_number)"/>
  <arg name="input/image0" default="/image_raw0"/>
  <arg name="input/image1" default="/image_raw1"/>
  <arg name="input/image2" default="/image_raw2"/>
  <arg name="input/image3" default="/image_raw3"/>
  <arg name="input/image4" default="/image_raw4"/>
  <arg name="input/image5" default="/image_raw5"/>
  <arg name="input/image6" default="/image_raw6"/>
  <arg name="input/image7" default="/image_raw7"/>
  <group>
    <node_container pkg="rclcpp_components" exec="component_container" name="$(var pointcloud_container_name)" namespace="/">
      <composable_node pkg="autoware_image_projection_based_fusion" plugin="autoware::image_projection_based_fusion::RoiPointCloudFusionNode" name="roi_pointcloud_fusion">
        <param name="rois_number" value="$(var input/rois_number)"/>
        <param from="$(var param_path)"/>
        <param from="$(var sync_param_path)" allow_substs="true"/>
        <remap from="input" to="$(var input/pointcloud)"/>
        <remap from="output" to="$(var output/clusters)"/>
        <remap from="debug/clusters" to="$(var debug/clusters)"/>

        <!-- rois, camera and info -->
        <param name="input/rois0" value="$(var input/rois0)"/>
        <param name="input/camera_info0" value="$(var input/camera_info0)"/>
        <param name="input/image0" value="$(var input/image0)"/>
        <param name="input/rois1" value="$(var input/rois1)"/>
        <param name="input/camera_info1" value="$(var input/camera_info1)"/>
        <param name="input/image1" value="$(var input/image1)"/>
        <param name="input/rois2" value="$(var input/rois2)"/>
        <param name="input/camera_info2" value="$(var input/camera_info2)"/>
        <param name="input/image2" value="$(var input/image2)"/>
        <param name="input/rois3" value="$(var input/rois3)"/>
        <param name="input/camera_info3" value="$(var input/camera_info3)"/>
        <param name="input/image3" value="$(var input/image3)"/>
        <param name="input/rois4" value="$(var input/rois4)"/>
        <param name="input/camera_info4" value="$(var input/camera_info4)"/>
        <param name="input/image4" value="$(var input/image4)"/>
        <param name="input/rois5" value="$(var input/rois5)"/>
        <param name="input/camera_info5" value="$(var input/camera_info5)"/>
        <param name="input/image5" value="$(var input/image5)"/>
        <param name="input/rois6" value="$(var input/rois6)"/>
        <param name="input/camera_info6" value="$(var input/camera_info6)"/>
        <param name="input/image6" value="$(var input/image6)"/>
        <param name="input/rois7" value="$(var input/rois7)"/>
        <param name="input/camera_info7" value="$(var input/camera_info7)"/>
        <param name="input/image7" value="$(var input/image7)"/>
      </composable_node>
    </node_container>
  </group>
</launch>