From c0905006555769fe60fed98524ad2e31459eb237 Mon Sep 17 00:00:00 2001
From: Tomohito Ando <tomohito.ando@tier4.jp>
Date: Fri, 13 Sep 2024 16:50:23 +0900
Subject: [PATCH] use pointcloud container var

---
 aip_x2_gen2_launch/launch/lidar.launch.xml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 56289023..203845ce 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -21,7 +21,7 @@
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="true" />
       <arg name="use_pointcloud_container" value="true"/>
-      <arg name="pointcloud_container_name" value="pointcloud_container"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
     <!-- LiDARs connected to Main ECU -->
@@ -44,7 +44,7 @@
         <arg name="ptp_domain" value="0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
+        <arg name="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -77,7 +77,7 @@
         <arg name="ptp_domain" value="0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
+        <arg name="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -110,7 +110,7 @@
         <arg name="ptp_domain" value="0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
+        <arg name="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -143,7 +143,7 @@
         <arg name="ptp_domain" value="0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
+        <arg name="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>