ci(pre-commit): update pre-commit-hooks-ros (autowarefoundation#625)

* ci(pre-commit): update pre-commit-hooks-ros

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

launch/tier4_planning_launch/launch/planning.launch.xml

@@ -3,6 +3,10 @@
 
   <arg name="vehicle_info_param_file" />
 
+  <!-- pointcloud container -->
+  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+
   <group>
     <push-ros-namespace namespace="planning"/>
     <!-- mission planning module -->
@@ -16,7 +20,9 @@
     <group>
       <push-ros-namespace namespace="scenario_planning"/>
       <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml">
-        <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)" />
+        <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 

launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml

@@ -3,6 +3,10 @@
   <arg name="common_param_path"/>
   <arg name="vehicle_info_param_file" />
 
+  <!-- pointcloud container -->
+  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+
   <!-- lane_driving scenario -->
   <group>
     <push-ros-namespace namespace="lane_driving"/>
@@ -13,6 +17,13 @@
         <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)" />
         <arg name="use_multithread" value="true" />
       </include>
+
+      <!-- compare map module -->
+      <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py">
+        <arg name="use_multithread" value="true" />
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      </include>
     </group>
 
     <!-- motion planning module -->

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py

@@ -0,0 +1,89 @@
+# Copyright 2021 Tier IV, Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+    def add_launch_arg(name: str, default_value=None):
+        return DeclareLaunchArgument(name, default_value=default_value)
+
+    set_container_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container",
+        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    set_container_mt_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container_mt",
+        condition=IfCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    composable_nodes = [
+        ComposableNode(
+            package="compare_map_segmentation",
+            plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
+            name="voxel_based_compare_map_filter_node",
+            remappings=[
+                ("input", "/perception/obstacle_segmentation/pointcloud"),
+                ("map", "/map/pointcloud_map"),
+                ("output", "compare_map_filtered/pointcloud"),
+            ],
+            parameters=[
+                {
+                    "distance_threshold": 0.7,
+                }
+            ],
+            extra_arguments=[
+                {"use_intra_process_comms": False}  # this node has QoS of transient local
+            ],
+        ),
+    ]
+
+    compare_map_container = ComposableNodeContainer(
+        name=LaunchConfiguration("container_name"),
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=composable_nodes,
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        output="screen",
+    )
+
+    load_composable_nodes = LoadComposableNodes(
+        composable_node_descriptions=composable_nodes,
+        target_container=LaunchConfiguration("container_name"),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
+    )
+
+    return LaunchDescription(
+        [
+            add_launch_arg("use_multithread", "true"),
+            add_launch_arg("use_pointcloud_container", "true"),
+            add_launch_arg("container_name", "compare_map_container"),
+            set_container_executable,
+            set_container_mt_executable,
+            compare_map_container,
+            load_composable_nodes,
+        ]
+    )

launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml

@@ -3,6 +3,10 @@
   <arg name="common_param_path" default="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/common/common.param.yaml"/>
   <arg name="vehicle_info_param_file" />
 
+  <!-- pointcloud container -->
+  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+
   <!-- scenario selector -->
   <include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
     <arg name="input_lane_driving_trajectory" value="/planning/scenario_planning/lane_driving/trajectory"/>
@@ -40,7 +44,9 @@
     <!-- lane driving -->
     <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving.launch.xml">
       <arg name="common_param_path" value="$(var common_param_path)"/>
-      <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)" />
+      <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
     <!-- parking -->
     <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/parking.launch.py">