drivers: update velodyne launch files

modules/drivers/velodyne/velodyne/launch/export_pcd_offline.launch

 <launch>
-    <!-- Play a bag only contains topics '/apollo/sensor/velodyne64/VelodyneScanUnified' and '/tf' to make this launch file work -->
-    <arg name="velodyne64_calibration_online" default="true" />
-    <!--If 'velodyne64_calibration_online' is true, 'velodyne64_calibration_file' will not use  -->
-    <arg name="velodyne64_calibration_file" default="$(find velodyne_pointcloud)/params/64E_S3_calibration_example.yaml"/>
-    <arg name="extrinsics_velodyne64" default="$(find velodyne_pointcloud)/params/velodyne64_novatel_extrinsics_example.yaml"/>
-    <arg name="velodyne64_frame_id" default="velodyne64"/>
-    <arg name="organized" default="false"/>
-    <arg name="min_range" default="0.9" />
-    <arg name="max_range_64" default="70.0" />
-    <arg name="rpm" default="600"/>
-    <!-- 64E_S3D_STRONGEST | 64E_S3D_LATEST | 64E_S3D_DUAL -->
-    <arg name="model" default="64E_S3D_STRONGEST" />
-    <!-- 100ms -->
-    <arg name="tf_query_timeout" default="0.1"/>
-    <arg name="pcd_folder" value="/apollo/data/pcd" />
+  <!-- Play a bag only contains topics '/apollo/sensor/velodyne64/VelodyneScanUnified' and '/tf' to make this launch file work -->
+  <arg name="velodyne64_calibration_online" default="true" />
+  <!--If 'velodyne64_calibration_online' is true, 'velodyne64_calibration_file' will not use  -->
+  <arg name="velodyne64_calibration_file" default="$(find velodyne_pointcloud)/params/64E_S3_calibration_example.yaml"/>
+  <arg name="extrinsics_velodyne64" default="$(find velodyne_pointcloud)/params/velodyne64_novatel_extrinsics_example.yaml"/>
+  <arg name="velodyne64_frame_id" default="velodyne64"/>
+  <arg name="organized" default="false"/>
+  <arg name="min_range" default="0.9" />
+  <arg name="max_range_64" default="70.0" />
+  <arg name="rpm" default="600"/>
+  <!-- 64E_S3D_STRONGEST | 64E_S3D_LATEST | 64E_S3D_DUAL -->
+  <arg name="model" default="64E_S3D_STRONGEST" />
+  <!-- 100ms -->
+  <arg name="tf_query_timeout" default="0.1"/>
+  <arg name="pcd_folder" value="/apollo/data/pcd" />
+  <arg name="nodelet_manager_name" default="velodyne_nodelet_manager" />
 
   <include file="$(find velodyne_pointcloud)/launch/nodelet_manager.launch">
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
   </include>
   
   <!-- start convert nodelet-->
   <include file="$(find velodyne_pointcloud)/launch/convert_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_convert"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="calibration_online" value="$(arg velodyne64_calibration_online)" />
     <arg name="calibration" value="$(arg velodyne64_calibration_file)" />
@@ -34,6 +37,7 @@
    <!-- start compensator nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/compensator_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_compensator"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="child_frame_id" value="$(arg velodyne64_frame_id)"/>
     <arg name="tf_query_timeout" value="$(arg tf_query_timeout)"/>
     <arg name="topic_pointcloud" value="/apollo/sensor/velodyne64/PointCloud2"/>
@@ -41,6 +45,7 @@
   </include>
 
   <include file="$(find velodyne_pointcloud)/launch/pcd_exporter_nodelet.launch">
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="pcd_folder" value="$(arg pcd_folder)"/>
     <arg name="skip_static_frames" default="false"/>
     <arg name="child_frame_id" default="velodyne64"/>

modules/drivers/velodyne/velodyne/launch/export_pcd_online.launch

@@ -13,13 +13,16 @@
     <!-- 100ms -->
     <arg name="tf_query_timeout" default="0.1"/>
     <arg name="pcd_folder" value="/apollo/data/pcd" />
+    <arg name="nodelet_manager_name" value="velodyne_nodelet_manager"/>
 
   <include file="$(find velodyne_pointcloud)/launch/nodelet_manager.launch">
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
   </include>
     <!--  HDL64E -->
     <!--  driver nodelets -->
   <include file="$(find velodyne_driver)/launch/driver_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_driver"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="rpm" value="$(arg rpm)"/>
     <arg name="frame_id" value="$(arg velodyne64_frame_id)"/>
@@ -29,6 +32,7 @@
   <!-- start convert nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/convert_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_convert"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="calibration_online" value="$(arg velodyne64_calibration_online)" />
     <arg name="calibration" value="$(arg velodyne64_calibration_file)" />
@@ -42,6 +46,7 @@
    <!-- start compensator nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/compensator_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_compensator"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="child_frame_id" value="$(arg velodyne64_frame_id)"/>
     <arg name="tf_query_timeout" value="$(arg tf_query_timeout)"/>
     <arg name="topic_pointcloud" value="/apollo/sensor/velodyne64/PointCloud2"/>
@@ -49,6 +54,7 @@
   </include>
 
   <include file="$(find velodyne_pointcloud)/launch/pcd_exporter_nodelet.launch">
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="pcd_folder" value="$(arg pcd_folder)"/>
     <arg name="skip_static_frames" default="false"/>
     <arg name="child_frame_id" default="velodyne64"/>

modules/drivers/velodyne/velodyne/launch/export_pcd_online_16.launch

@@ -13,13 +13,17 @@
     <!-- 100ms -->
     <arg name="tf_query_timeout" default="0.1"/>
     <arg name="pcd_folder" value="/apollo/data/pcd" />
+    <arg name="nodelet_manager_name" value="velodyne16_nodelet_manager"/>
+
 
   <include file="$(find velodyne_pointcloud)/launch/nodelet_manager.launch">
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
   </include>
     <!--  HDL16E -->
     <!--  driver nodelets -->
   <include file="$(find velodyne_driver)/launch/driver_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne16_driver"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="rpm" value="$(arg rpm)"/>
     <arg name="frame_id" value="$(arg velodyne16_frame_id)"/>
@@ -29,6 +33,7 @@
   <!-- start convert nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/convert_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne16_convert"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="calibration_online" value="$(arg velodyne16_calibration_online)" />
     <arg name="calibration" value="$(arg velodyne16_calibration_file)" />
@@ -40,6 +45,7 @@
   </include>
 
   <include file="$(find velodyne_pointcloud)/launch/pcd_exporter_nodelet.launch">
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="pcd_folder" value="$(arg pcd_folder)"/>
     <arg name="skip_static_frames" default="false"/>
     <arg name="child_frame_id" default="velodyne16"/>

modules/drivers/velodyne/velodyne/launch/replay_velodyne.launch

@@ -10,6 +10,7 @@
     <arg name="rpm" default="600"/>
     <arg name="tf_query_timeout" default="0.1"/>
     <arg name="velodyne64_frame_id" default="velodyne64"/> 
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
 
     <!-- start rosbag replay -->
   <include file="$(find velodyne_pointcloud)/launch/rosbag_replay.launch">
@@ -19,6 +20,7 @@
   </include> 
 
   <include file="$(find velodyne_pointcloud)/launch/nodelet_manager.launch">
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
   </include>
     <!--  HDL64E -->  
   <!-- start cloud nodelet using test calibration file -->
@@ -32,6 +34,7 @@
     <arg name="topic_pointcloud" default="/apollo/sensor/velodyne64/PointCloud2"/>
     <arg name="topic_packets" default="/apollo/sensor/velodyne64/VelodyneScanUnified"/>
     <arg name="node_name" value="sensor_velodyne64_convert"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
   </include>
 
    <!-- start 64 compensator nodelet -->
@@ -45,9 +48,10 @@
 
   <node pkg="velodyne_pointcloud" type="extrinsics_broadcaster.py"
     args="$(arg extrinsics_velodyne64)" name="static_transform_velodyne64" />
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
   
   <node pkg="nodelet" type="nodelet" name="tf_broadcaster_nodelet"
-        args="load gnss_driver/TFBroadcasterNodelet velodyne_nodelet_manager" output="screen">
+        args="load gnss_driver/TFBroadcasterNodelet $(arg nodelet_manager_name)" output="screen">
   </node>
 
 </launch>

modules/drivers/velodyne/velodyne/launch/start_velodyne.launch

@@ -12,13 +12,16 @@
     <arg name="model" default="64E_S3D_STRONGEST" />
     <!-- 100ms -->
     <arg name="tf_query_timeout" default="0.1"/>
+    <arg name="nodelet_manager_name" value="velodyne_nodelet_manager"/>
 
   <include file="$(find velodyne_pointcloud)/launch/nodelet_manager.launch">
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
   </include>
     <!--  HDL64E -->
     <!--  driver nodelets -->
   <include file="$(find velodyne_driver)/launch/driver_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_driver"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="rpm" value="$(arg rpm)"/>
     <arg name="frame_id" value="$(arg velodyne64_frame_id)"/>
@@ -28,6 +31,7 @@
   <!-- start cloud nodelet using test calibration file -->
   <include file="$(find velodyne_pointcloud)/launch/convert_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_convert"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="calibration_online" value="$(arg velodyne64_calibration_online)" />
     <arg name="calibration" default="$(arg velodyne64_calibration_file)" />
@@ -41,6 +45,7 @@
    <!-- start 64 compensator nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/compensator_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_compensator"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="child_frame_id" value="$(arg velodyne64_frame_id)"/>
     <arg name="tf_query_timeout" value="$(arg tf_query_timeout)"/>
     <arg name="topic_pointcloud" value="/apollo/sensor/velodyne64/PointCloud2"/>

modules/drivers/velodyne/velodyne/launch/start_velodyne_16.launch

@@ -11,17 +11,20 @@
     <arg name="positioning_data_port" default="8309"/>
     <!-- 100ms -->
     <arg name="tf_query_timeout" default="0.1"/>
+    <arg name="nodelet_manager_name" value="velodyne16_nodelet_manager" />
 
   <include file="$(find velodyne_pointcloud)/launch/nodelet_manager.launch">
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
   </include>
     <!--  VLP16 -->
     <!--  driver nodelets -->
   <include file="$(find velodyne_driver)/launch/driver_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne16_driver"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="rpm" value="$(arg rpm)"/>
     <arg name="frame_id" value="$(arg velodyne16_frame_id)"/>
-    <arg name="topic" value="/apollo/sensor/velodyne16/VelodyneScanUnified"/>    
+    <arg name="topic" value="/apollo/sensor/velodyne16/VelodyneScanUnified"/>
     <arg name="firing_data_port" value="$(arg firing_data_port)"/>
     <arg name="positioning_data_port" value="$(arg positioning_data_port)"/>
   </include>
@@ -29,6 +32,7 @@
   <!-- start cloud nodelet using test calibration file -->
   <include file="$(find velodyne_pointcloud)/launch/convert_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne16_convert"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="calibration" default="$(arg velodyne16_calibration_file)" />
     <arg name="organized" default="$(arg organized)"/>
@@ -41,6 +45,7 @@
    <!-- start 16 compensator nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/compensator_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne16_compensator"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="child_frame_id" value="$(arg velodyne16_frame_id)"/>
     <arg name="tf_query_timeout" value="$(arg tf_query_timeout)"/>
     <arg name="topic_pointcloud" value="/apollo/sensor/velodyne16/PointCloud2"/>

modules/drivers/velodyne/velodyne/launch/start_velodyne_bj.launch

@@ -12,13 +12,16 @@
     <arg name="model" default="64E_S3D_STRONGEST" />
     <!-- 100ms -->
     <arg name="tf_query_timeout" default="0.1"/>
+    <arg name="nodelet_manager_name" value="velodyne_nodelet_manager"/>
 
   <include file="$(find velodyne_pointcloud)/launch/nodelet_manager.launch">
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
   </include>
     <!--  HDL64E -->
     <!--  driver nodelets -->
   <include file="$(find velodyne_driver)/launch/driver_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_driver"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="rpm" value="$(arg rpm)"/>
     <arg name="frame_id" value="$(arg velodyne64_frame_id)"/>
@@ -28,6 +31,7 @@
   <!-- start cloud nodelet using test calibration file -->
   <include file="$(find velodyne_pointcloud)/launch/convert_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_convert"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="calibration_online" value="$(arg velodyne64_calibration_online)" />
     <arg name="calibration" default="$(arg velodyne64_calibration_file)" />
@@ -41,6 +45,7 @@
    <!-- start 64 compensator nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/compensator_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_compensator"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="child_frame_id" value="$(arg velodyne64_frame_id)"/>
     <arg name="tf_query_timeout" value="$(arg tf_query_timeout)"/>
     <arg name="topic_pointcloud" value="/apollo/sensor/velodyne64/PointCloud2"/>

modules/drivers/velodyne/velodyne/launch/start_velodyne_for_map_data_collector.launch

-<launch>
-    <arg name="velodyne64_calibration_online" default="true" />
-    <!--If 'velodyne64_calibration_online' is true, 'velodyne64_calibration_file' will not use  -->
-    <arg name="velodyne64_calibration_file" default="$(find velodyne_pointcloud)/params/64E_S3_calibration_example.yaml"/>
-    <arg name="extrinsics_velodyne64" default="$(find velodyne_pointcloud)/params/velodyne64_novatel_extrinsics_example.yaml"/>
-    <arg name="velodyne16_calibration_file" default="$(find velodyne_pointcloud)/params/VLP16_calibration.yaml"/>
-    <arg name="extrinsics_velodyne16" default="$(find velodyne_pointcloud)/params/velodyne16_novatel_extrinsics_example.yaml"/>
-    <arg name="velodyne64_frame_id" default="velodyne64"/>
-    <arg name="velodyne16_frame_id" default="velodyne16"/>
-    <arg name="organized" default="true"/>
-    <arg name="min_range" default="0.9" />
-    <arg name="max_range_64" default="70.0" />
-    <arg name="max_range_16" default="70.0" />
-    <arg name="rpm" default="600"/>
-    <!-- 64E_S3D_STRONGEST | 64E_S3D_LATEST | 64E_S3D_DUAL -->
-    <arg name="model_64" default="64E_S3D_STRONGEST" />
-    <arg name="model_16" default="VLP16" />
-    <!-- 100ms -->
-    <arg name="tf_query_timeout" default="0.1"/>
-
-  <include file="$(find velodyne_pointcloud)/launch/nodelet_manager.launch">
-  </include>
-    <!--  HDL64E -->
-    <!--  driver nodelets -->
-  <include file="$(find velodyne_driver)/launch/driver_nodelet.launch">
-    <arg name="node_name" value="sensor_velodyne64_driver"/>
-    <arg name="model" value="$(arg model_64)"/>
-    <arg name="rpm" value="$(arg rpm)"/>
-    <arg name="frame_id" value="$(arg velodyne64_frame_id)"/>
-    <arg name="topic" value="/apollo/sensor/velodyne64/VelodyneScanUnified"/>    
-  </include>
-  
-  <!-- start cloud nodelet using test calibration file -->
-  <include file="$(find velodyne_pointcloud)/launch/convert_nodelet.launch">
-    <arg name="node_name" value="sensor_velodyne64_convert"/>
-    <arg name="model" value="$(arg model_64)"/>
-    <arg name="calibration_online" value="$(arg velodyne64_calibration_online)" />
-    <arg name="calibration" default="$(arg velodyne64_calibration_file)" />
-    <arg name="organized" default="$(arg organized)"/>
-    <arg name="min_range" default="$(arg min_range)" />
-    <arg name="max_range" default="$(arg max_range_64)" />
-    <arg name="topic_pointcloud" default="/apollo/sensor/velodyne64/PointCloud2"/>
-    <arg name="topic_packets" default="/apollo/sensor/velodyne64/VelodyneScanUnified"/>
-  </include>
-  
-   <!-- start 64 compensator nodelet -->
-  <include file="$(find velodyne_pointcloud)/launch/compensator_nodelet.launch">
-    <arg name="node_name" value="sensor_velodyne64_compensator"/>
-    <arg name="child_frame_id" value="$(arg velodyne64_frame_id)"/>
-    <arg name="tf_query_timeout" value="$(arg tf_query_timeout)"/>
-    <arg name="topic_pointcloud" value="/apollo/sensor/velodyne64/PointCloud2"/>
-    <arg name="topic_compensated_pointcloud" value="/apollo/sensor/velodyne64/compensator/PointCloud2"/>
-  </include>
-
-    <!--  VLP16 -->
-    <!--  driver nodelets -->
-  <include file="$(find velodyne_driver)/launch/driver_nodelet.launch">
-    <arg name="node_name" value="sensor_velodyne16_driver"/>
-    <arg name="model" value="$(arg model_16)"/>
-    <arg name="rpm" value="$(arg rpm)"/>
-    <arg name="frame_id" value="$(arg velodyne16_frame_id)"/>
-    <arg name="topic" value="/apollo/sensor/velodyne16/VelodyneScanUnified"/>    
-    <arg name="firing_data_port" value="2369"/>
-    <arg name="positioning_data_port" value="8309"/>
-  </include>
-  
-  <!-- start cloud nodelet using test calibration file -->
-  <include file="$(find velodyne_pointcloud)/launch/convert_nodelet.launch">
-    <arg name="node_name" value="sensor_velodyne16_convert"/>
-    <arg name="model" value="$(arg model_16)"/>
-    <arg name="calibration" default="$(arg velodyne16_calibration_file)" />
-    <arg name="organized" default="$(arg organized)"/>
-    <arg name="min_range" default="$(arg min_range)" />
-    <arg name="max_range" default="$(arg max_range_16)" />
-    <arg name="topic_pointcloud" default="/apollo/sensor/velodyne16/PointCloud2"/>
-    <arg name="topic_packets" default="/apollo/sensor/velodyne16/VelodyneScanUnified"/>
-  </include>
-  
-   <!-- start 16 compensator nodelet -->
-  <include file="$(find velodyne_pointcloud)/launch/compensator_nodelet.launch">
-    <arg name="node_name" value="sensor_velodyne16_compensator"/>
-    <arg name="child_frame_id" value="$(arg velodyne16_frame_id)"/>
-    <arg name="tf_query_timeout" value="$(arg tf_query_timeout)"/>
-    <arg name="topic_pointcloud" value="/apollo/sensor/velodyne16/PointCloud2"/>
-    <arg name="topic_compensated_pointcloud" value="/apollo/sensor/velodyne16/compensator/PointCloud2"/>
-  </include>
-
-
-</launch>

modules/drivers/velodyne/velodyne/launch/velodyne_check.launch

@@ -12,13 +12,16 @@
     <arg name="model" default="64E_S3D_STRONGEST" />
     <!-- 100ms -->
     <arg name="tf_query_timeout" default="0.1"/>
+    <arg name="nodelet_manager_name" value="velodyne_nodelet_manager"/>
 
   <include file="$(find velodyne_pointcloud)/launch/nodelet_manager.launch">
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
   </include>
     <!--  HDL64E -->
     <!--  driver nodelets -->
   <include file="$(find velodyne_driver)/launch/driver_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_driver"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="rpm" value="$(arg rpm)"/>
     <arg name="frame_id" value="$(arg velodyne64_frame_id)"/>
@@ -28,6 +31,7 @@
   <!-- start cloud nodelet using test calibration file -->
   <include file="$(find velodyne_pointcloud)/launch/convert_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_convert"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="model" value="$(arg model)"/>
     <arg name="calibration_online" value="$(arg velodyne64_calibration_online)" />
     <arg name="calibration" default="$(arg velodyne64_calibration_file)" />
@@ -41,6 +45,7 @@
    <!-- start 64 compensator nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/compensator_nodelet.launch">
     <arg name="node_name" value="sensor_velodyne64_compensator"/>
+    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
     <arg name="child_frame_id" value="$(arg velodyne64_frame_id)"/>
     <arg name="tf_query_timeout" value="$(arg tf_query_timeout)"/>
     <arg name="topic_pointcloud" value="/apollo/sensor/velodyne64/PointCloud2"/>

modules/drivers/velodyne/velodyne_driver/launch/driver_nodelet.launch

@@ -9,9 +9,10 @@
   <arg name="frame_id" default="velodyne64" />
   <arg name="topic" default="/apollo/sensor/velodyne64/VelodyneScanUnified" />
   <arg name="node_name" default="driver_nodelet"/>
+  <arg name="nodelet_manager_name" default="velodyne_nodelet_manager" />
 
   <node pkg="nodelet" type="nodelet" name="$(arg node_name)"
-        args="load velodyne_driver/DriverNodelet velodyne_nodelet_manager" output="screen" >
+        args="load velodyne_driver/DriverNodelet $(arg nodelet_manager_name)" output="screen" >
     <param name="model" value="$(arg model)"/>
     <param name="rpm" value="$(arg rpm)"/>
     <param name="frame_id" value="$(arg frame_id)"/>

modules/drivers/velodyne/velodyne_pointcloud/launch/compensator_nodelet.launch

@@ -4,8 +4,10 @@
   <arg name="node_name" default="compensator_nodelet"/>
   <arg name="child_frame_id" default="velodyne64"/>
   <arg name="tf_query_timeout" default="0.1"/>
+  <arg name="nodelet_manager_name" default="velodyne_nodelet_manager" />
+
   <node pkg="nodelet" type="nodelet" name="$(arg node_name)"
-        args="load velodyne_pointcloud/CompensatorNodelet velodyne_nodelet_manager" output="screen">
+        args="load velodyne_pointcloud/CompensatorNodelet $(arg nodelet_manager_name)" output="screen">
     <param name="topic_pointcloud" value="$(arg topic_pointcloud)"/>
     <param name="topic_compensated_pointcloud" value="$(arg topic_compensated_pointcloud)"/>
     <param name="child_frame_id" value="$(arg child_frame_id)"/>

modules/drivers/velodyne/velodyne_pointcloud/launch/convert_nodelet.launch

@@ -9,9 +9,10 @@
   <arg name="topic_pointcloud" default="/apollo/sensor/velodyne64/PointCloud2"/>
   <arg name="topic_packets" default="/apollo/sensor/velodyne64/VelodyneScanUnified"/>
   <arg name="node_name" default="convert_nodelet"/>
+  <arg name="nodelet_manager_name" default="velodyne_nodelet_manager" />
 
   <node pkg="nodelet" type="nodelet" name="$(arg node_name)"
-        args="load velodyne_pointcloud/ConvertNodelet velodyne_nodelet_manager" output="screen">
+        args="load velodyne_pointcloud/ConvertNodelet $(arg nodelet_manager_name)" output="screen">
     <param name="calibration_online" value="$(arg calibration_online)"/>
     <param name="calibration" value="$(arg calibration)"/>
     <param name="min_range" value="$(arg min_range)"/>

modules/drivers/velodyne/velodyne_pointcloud/launch/nodelet_manager.launch

 <launch>
-  <node pkg="nodelet" type="nodelet" name="velodyne_nodelet_manager" output="screen"
+  <arg name="nodelet_manager_name" default="velodyne_nodelet_manager" />
+  <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" output="screen"
         args="manager" />
 </launch>

modules/drivers/velodyne/velodyne_pointcloud/launch/pcd_exporter_nodelet.launch

@@ -6,9 +6,10 @@
     <arg name="pose_file" default="$(arg pcd_folder)/pose.txt"/>
     <arg name="topic_pointcloud" default="/apollo/sensor/velodyne64/PointCloud2"/>
     <arg name="queue_size" default="10"/>
+    <arg name="nodelet_manager_name" default="velodyne_nodelet_manager" />
     
     <node pkg="nodelet" type="nodelet" name="pcd_exporter_nodelet" 
-                args="load velodyne_pointcloud/PCDExporterNodelet velodyne_nodelet_manager">
+                args="load velodyne_pointcloud/PCDExporterNodelet $(arg nodelet_manager_name)">
         <param name="pcd_folder" value="$(arg pcd_folder)"/>
         <param name="skip_static_frames" value="$(arg skip_static_frames)"/>
         <param name="child_frame_id" value="$(arg child_frame_id)"/>

modules/drivers/velodyne/velodyne_pointcloud/launch/pointcloud_dump_nodelet.launch

@@ -2,8 +2,10 @@
   <arg name="save_folder" default="$(find velodyne_pointcloud)/tests/velodyne_test_msg_files" />
   <arg name="topic_name" default="/apollo/sensor/velodyne64/PointCloud2" />
   <arg name="file_prefix" default="64e_out_msg_" />
+  <arg name="nodelet_manager_name" default="velodyne_nodelet_manager" />
+
   <node pkg="nodelet" type="nodelet" name="pointcloud_dump_nodelet"
-        args="load velodyne_pointcloud/PointCloudDumpNodelet velodyne_nodelet_manager">
+        args="load velodyne_pointcloud/PointCloudDumpNodelet $(arg nodelet_manager_name)">
     <param name="save_folder" value="$(arg save_folder)"/>
     <param name="topic_name" value="$(arg topic_name)"/>
     <param name="file_prefix" value="$(arg file_prefix)"/>

modules/drivers/velodyne/velodyne_pointcloud/launch/velodyne16_convert_nodelet.launch

@@ -7,9 +7,10 @@
   <arg name="topic_pointcloud" default="/apollo/sensor/velodyne64/PointCloud2"/>
   <arg name="topic_packets" default="/apollo/sensor/velodyne64/VelodyneScanUnified"/>
   <arg name="node_name" default="convert_nodelet"/>
+  <arg name="nodelet_manager_name" default="velodyne_nodelet_manager" />
 
   <node pkg="nodelet" type="nodelet" name="$(arg node_name)"
-        args="load velodyne_pointcloud/ConvertNodelet velodyne_nodelet_manager" output="screen">
+        args="load velodyne_pointcloud/ConvertNodelet $(arg nodelet_manager_name)" output="screen">
     <param name="calibration_online" value="$(arg calibration_online)"/>
     <param name="calibration" value="$(arg calibration)"/>
     <param name="min_range" value="$(arg min_range)"/>