`use_concat_filter:=false` is not supported

[VRichardJP]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

The lidar preprocessing pipeline is broken if use_concat_filter is set to false. In the preprocessor launch file, it is suggested that if the concatenate filter is not used then a passthrough filter is launch. However it is not the case:

sample_sensor_kit_launch/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py

Lines 68 to 73 in 417f7ce

	# load concat or passthrough filter
	concat_loader = LoadComposableNodes(
	composable_node_descriptions=[concat_component],
	target_container=target_container,
	condition=IfCondition(LaunchConfiguration("use_concat_filter")),
	)

This would leave the lidar pipeline broken, has /sensing/lidar/top/outlier_filtered/pointcloud messages are not forwarded to /sensing/lidar/concatenated/pointcloud (which is hardcoded everywhere in other autoware modules).

Either a passthrough should be added, or the option should rather be removed?

Expected behavior

Since use_concat_filter is an option, we should be able to use it.

Actual behavior

use_concat_filter:=false does not work.

Steps to reproduce

N/A

Versions

No response

Possible causes

No response

Additional context

No response

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[vividf]

In my opinion, I think we can remove the use_concat_filter parameter because if users only have one lidar (which do not need to concatenate), then they can use the single_lidar_sensor_kit_launch

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.