refactor(pointcloud_preprocessor): rework parameters

[Ariiees]

Description

Implement the ROS Node configuration layout for the sensing/pointcloud_preprocessor package.

Test performed

1. Build

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to autoware_vehicle_info_utils
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to pointcloud_preprocessor

2. Launch

ros2 launch pointcloud_preprocessor approximate_downsample_filter.launch.xml
ros2 launch pointcloud_preprocessor blockage_diag.launch.xml
ros2 launch pointcloud_preprocessor distortion_corrector.launch.xml
ros2 launch  pointcloud_preprocessor dual_return_outlier_filter.launch.xml
ros2 launch pointcloud_preprocessor lanelet2_map_filter.launch.xml
ros2 launch pointcloud_preprocessor pickup_based_voxel_grid_downsample_filter.launch.xml
ros2 launch pointcloud_preprocessor pointcloud_accumulator.launch.xml
ros2 launch pointcloud_preprocessor polygon_remover.launch.py
ros2 launch pointcloud_preprocessor preprocessor.launch.xml
ros2 launch pointcloud_preprocessor radius_search_2d_outlier_filter.launch.xml
ros2 launch pointcloud_preprocessor random_downsample_filter.launch.xml
ros2 launch pointcloud_preprocessor ring_outlier_filter.launch.xml
ros2 launch pointcloud_preprocessor ring_passthrough_filter.launch.xml
ros2 launch pointcloud_preprocessor vector_map_inside_area_filter.launch.xml
ros2 launch pointcloud_preprocessor voxel_grid_downsample_filter.launch.xml
ros2 launch pointcloud_preprocessor voxel_grid_outlier_filter.launch.xml

Notes for reviewers

None

Interface Changes

1. Remove all default values in declare_parameter() function
2. Create .yaml files for all used nodes.
3. Update .launch.xml file to import .yaml.
4. Create schema for each launch file.
5. Update README.md
6. Test build and launch successfully.

Effects on system behavior

None

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[knzo25]

@Ariiees
Thanks your contribution !
There seems to be some string + yaml issues according to pre-commit. Could you please address it?

@vividf
Please handle this when you have time (as a guideline, withing the week). Be mindful that this may cause virtual conflicts with your other PRs due to the inclusion of parameters

[Ariiees]

Thank you so much for reminding me! I have fixed the issues in my "pointcloud_preprocessor" branch. Best, Yuxin

…

On Mon, Jun 10, 2024 at 9:15 PM Kenzo Lobos Tsunekawa < ***@***.***> wrote: @Ariiees <https://github.com/Ariiees> Thanks your contribution ! There seems to be some string + yaml issues according to pre-commit. Could you please address it? @vividf <https://github.com/vividf> Please handle this when you have time (as a guideline, withing the week). Be mindful that this may cause virtual conflicts with your other PRs due to the inclusion of parameters — Reply to this email directly, view it on GitHub <#7422 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AU5CVWVHYCULZUWF4ASOSWDZGZFT7AVCNFSM6AAAAABJDCDE6CVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNJZGU4DKOJUGQ> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[vividf]

@Ariiees
Thanks for your work!!

I reviewed some node files and found some parts look weird.
I also run with ros2 launch pointcloud_preprocessor preprocessor.launch.xml and there seem to be some errors.
For instance:
[concatenate_filter]: Need an 'output_frame' parameter to be set before continuing! (PointCloudConcatenationComponent())
Could you fix those issues?

Also, would be nice to signoff everytime for your commit :)

[vividf]

@Ariiees

Apologies that the current pointcloud preprocessor doesn't have a launch file for each node, therefore it is required to have those launch files together with this PR, otherwise, the user can't run the single ros node by ros2 run pointcloud_preprocessor <node_name>

You can take a look at this PR 4a82886 (especially the schema, param, and launch files).

To merge your hard work, you might need to provide more launch files (except the distortion correction node, and concatenation node as I am working on these nodes now) and make sure all of the launch files (including the previous one that I mentioned such as preprocessor.launch.xml can work as expected.

Thank you again for your contribution. Please let me know if you have any questions 👍

btw, just in case you haven't installed pre-commit before, you can install with pip install pre-commit and run pre-commit install in your repository.

[Ariiees]

@vividf
Thank you so much for your suggestion! I have reconfigured the .launch.py file. Make sure all parameters are imported correctly. The current node could launch successfully after the build following the command in build and launch instructions.
I will proceed to write a launch file for each node!

[vividf]

@Ariiees

Please let me know when the PR is ready for review :)

[Ariiees]

@Ariiees

Please let me know when the PR is ready for review :)

@vividf I have added other launch files and tested them successfully on my side. Also add schema for each launch file. Could you test it again? Thank you!

[vividf]

@Ariiees
Thanks again for your contribution, I did some checks and would like you to fix them before I review them in more detail.

For the comments, please apply them to all of the other files.
Additionally, the parameter file should be xxx.param.yaml

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[vividf]

Hi @Ariiees, let me know when the PR is ready for review. Thanks!

[Ariiees]

Hi @Ariiees, let me know when the PR is ready for review. Thanks!

Hi @vividf. Thank you so much for your time and suggestions. I have resolved the problems. Could you please check again? Thanks!

[vividf]

@Ariiees
I noticed that after you force-push the branch, there are many conflicts you need to solve.
If you feel it is too hard to solve them, you can close this PR and create a new PR.

[Ariiees]

@Ariiees I noticed that after you force-push the branch, there are many conflicts you need to solve. If you feel it is too hard to solve them, you can close this PR and create a new PR.

@vividf Yes.... I made a stupid mistake in the last update; I've tried to rebase to the current main and solve the conflict (shown in the current pr). Sorry for the trouble! I will keep the current point cloud preprocessor folder and clone the latest main to create a new RP (will also update the website address in Google sheet)