feat: remove use_pointcloud_container (autowarefoundation#806)

* feat!: remove use_pointcloud_container

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* style(pre-commit): autofix

* remove unnecessary files

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert: revert change in declaration of sample vehicle and sensor_kit

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: kminoda

autoware_launch/launch/autoware.launch.xml

@@ -56,12 +56,10 @@
   </group>
 
   <!-- Pointcloud container -->
-  <group if="$(var use_pointcloud_container)">
-    <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
-      <arg name="use_multithread" value="true"/>
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
-    </include>
-  </group>
+  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
+    <arg name="use_multithread" value="true"/>
+    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+  </include>
 
   <!-- Vehicle -->
   <group if="$(var launch_vehicle)">

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -7,7 +7,6 @@
 
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
 

autoware_launch/launch/components/tier4_sensing_component.launch.xml

@@ -5,7 +5,6 @@
     <arg name="sensor_model" value="$(var sensor_model)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 </launch>

autoware_launch/launch/logging_simulator.launch.xml

@@ -21,7 +21,6 @@
   <arg name="planning" default="true" description="launch planning"/>
   <arg name="control" default="true" description="launch control"/>
   <!-- Pointcloud container -->
-  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
@@ -55,7 +54,6 @@
       <!-- Global parameters -->
       <arg name="use_sim_time" value="true"/>
       <!-- Pointcloud container -->
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <!-- Vehicle -->
       <arg name="vehicle_id" value="$(var vehicle_id)"/>

autoware_launch/launch/planning_simulator.launch.xml

@@ -50,8 +50,6 @@
       <arg name="launch_sensing" value="false"/>
       <arg name="launch_localization" value="false"/>
       <arg name="launch_perception" value="false"/>
-      <!-- Pointcloud container -->
-      <arg name="use_pointcloud_container" value="false"/>
       <!-- Vehicle -->
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- System -->