From 61b28836843e61e3195c0a1b48d5a7e811133147 Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Date: Fri, 16 May 2025 14:44:11 +0900
Subject: [PATCH 1/2] fix: move image decompressor node and update launch
 arguments for compressed images

---
 .../launch/apriltag_16h5.launch.py               | 16 +++++++++++++++-
 .../launch/calibrator.launch.xml                 |  2 ++
 .../drs/tag_based_pnp_calibrator.launch.xml      | 10 +---------
 3 files changed, 18 insertions(+), 10 deletions(-)

diff --git a/calibrators/tag_based_pnp_calibrator/launch/apriltag_16h5.launch.py b/calibrators/tag_based_pnp_calibrator/launch/apriltag_16h5.launch.py
index 5ab10024..4b687e64 100644
--- a/calibrators/tag_based_pnp_calibrator/launch/apriltag_16h5.launch.py
+++ b/calibrators/tag_based_pnp_calibrator/launch/apriltag_16h5.launch.py
@@ -21,9 +21,23 @@ def add_launch_arg(name: str, default_value=None):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
 
     add_launch_arg("image_topic", "/camera/image")
+    add_launch_arg("image_compressed_topic", "/camera/image/compressed")
     add_launch_arg("camera_info_topic", "/camera/camera_info")
     add_launch_arg("apriltag_detections_topic", "apriltag/detection_array")
 
+    decompressor_node = ComposableNode(
+        package="autoware_image_transport_decompressor", # The package containing the component
+        plugin="autoware::image_preprocessor::ImageTransportDecompressor", # The registered plugin name
+        name="decompressor",                             # Node name within the container
+        remappings=[
+            ("decompressor/input/compressed_image", LaunchConfiguration("image_compressed_topic")),
+            ("decompressor/output/raw_image", LaunchConfiguration("image_topic")),
+        ],
+        parameters=[
+            {"encoding": "default"}
+        ]
+    )
+
     composable_node = ComposableNode(
         name="apriltag",
         package="apriltag_ros",
@@ -42,7 +56,7 @@ def add_launch_arg(name: str, default_value=None):
         namespace="apriltag",
         package="rclcpp_components",
         executable="component_container",
-        composable_node_descriptions=[composable_node],
+        composable_node_descriptions=[decompressor_node, composable_node],
         output="screen",
     )
 
diff --git a/calibrators/tag_based_pnp_calibrator/launch/calibrator.launch.xml b/calibrators/tag_based_pnp_calibrator/launch/calibrator.launch.xml
index 4af18237..91c478a6 100644
--- a/calibrators/tag_based_pnp_calibrator/launch/calibrator.launch.xml
+++ b/calibrators/tag_based_pnp_calibrator/launch/calibrator.launch.xml
@@ -1,5 +1,6 @@
 <launch>
   <arg name="image_topic" description="Raw image topic (currently we do not support rectified images)"/>
+  <arg name="image_compressed_topic" description="Compressed image topic"/>
   <arg name="camera_info_topic"/>
   <arg name="pointcloud_topic"/>
   <arg name="base_frame" default="base_link"/>
@@ -37,6 +38,7 @@
   <!-- apriltag detector -->
   <include file="$(find-pkg-share tag_based_pnp_calibrator)/launch/apriltag_16h5.launch.py">
     <arg name="image_topic" value="$(var image_topic)"/>
+    <arg name="image_compressed_topic" value="$(var image_compressed_topic)"/>
     <arg name="camera_info_topic" value="$(var camera_info_topic)"/>
   </include>
 
diff --git a/sensor_calibration_manager/launch/drs/tag_based_pnp_calibrator.launch.xml b/sensor_calibration_manager/launch/drs/tag_based_pnp_calibrator.launch.xml
index 3a5a0bc7..2417d84d 100644
--- a/sensor_calibration_manager/launch/drs/tag_based_pnp_calibrator.launch.xml
+++ b/sensor_calibration_manager/launch/drs/tag_based_pnp_calibrator.launch.xml
@@ -46,17 +46,9 @@
   <let name="use_rectified_image" value="false"/>
 
   <group>
-    <!-- image decompressor -->
-    <node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
-      <remap from="decompressor/input/compressed_image" to="$(var image_compressed_topic)"/>
-      op
-      <remap from="decompressor/output/raw_image" to="$(var image_decompressed_topic)"/>
-
-      <param name="encoding" value="default"/>
-    </node>
-
     <!-- tag based calibrator -->
     <include file="$(find-pkg-share tag_based_pnp_calibrator)/launch/calibrator.launch.xml">
+      <arg name="image_compressed_topic" value="$(var image_compressed_topic)"/>
       <arg name="image_topic" value="$(var image_decompressed_topic)"/>
       <arg name="camera_info_topic" value="$(var camera_info_topic)"/>
       <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/>

From 48f2f4f453ac58bb1592f7880a857fd37ddef884 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 16 May 2025 06:01:15 +0000
Subject: [PATCH 2/2] ci(pre-commit): autofix

---
 .../launch/apriltag_16h5.launch.py                     | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/calibrators/tag_based_pnp_calibrator/launch/apriltag_16h5.launch.py b/calibrators/tag_based_pnp_calibrator/launch/apriltag_16h5.launch.py
index 4b687e64..9851cca2 100644
--- a/calibrators/tag_based_pnp_calibrator/launch/apriltag_16h5.launch.py
+++ b/calibrators/tag_based_pnp_calibrator/launch/apriltag_16h5.launch.py
@@ -26,16 +26,14 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("apriltag_detections_topic", "apriltag/detection_array")
 
     decompressor_node = ComposableNode(
-        package="autoware_image_transport_decompressor", # The package containing the component
-        plugin="autoware::image_preprocessor::ImageTransportDecompressor", # The registered plugin name
-        name="decompressor",                             # Node name within the container
+        package="autoware_image_transport_decompressor",  # The package containing the component
+        plugin="autoware::image_preprocessor::ImageTransportDecompressor",  # The registered plugin name
+        name="decompressor",  # Node name within the container
         remappings=[
             ("decompressor/input/compressed_image", LaunchConfiguration("image_compressed_topic")),
             ("decompressor/output/raw_image", LaunchConfiguration("image_topic")),
         ],
-        parameters=[
-            {"encoding": "default"}
-        ]
+        parameters=[{"encoding": "default"}],
     )
 
     composable_node = ComposableNode(