refactor(simple_planning_simulator): rework parameters

[PhoebeWu21]

Description

Implement the ROS Node configuration layout described in https://github.com/orgs/autowarefoundation/discussions/3371 for the simple_planning_simulator package.

• Remove the default value from the source code in order to ensure all parameter values are passed from the parameter files.
• Create the schema

Tests performed

Package built and launch locally.
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to simple_planning_simulator

Effects on system behavior

More reliable and faster parameter configuration file creation.

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[ambroise-arm]

The json-schema CI check fails because the config file should be under ../config/*.param.yaml. Could you move it there and ensure that if there are other packages making use of the config file they are updated to the new path as well?

[PhoebeWu21]

The json-schema CI check fails because the config file should be under ../config/*.param.yaml. Could you move it there and ensure that if there are other packages making use of the config file they are updated to the new path as well?

@ambroise-arm Got it! Done.

[satoshi-ota]

@PhoebeWu21 Following error has occured by this PR. Could you confirm whether the autoware can be launch correctly with your branch?

[ERROR] [simple_planning_simulator_exe-53]: process has died [pid 572727, exit code -6, cmd '/home/satoshi/pilot-auto/install/simple_planning_simulator/lib/simple_planning_simulator/simple_planning_simulator_exe --ros-args -r __node:=simple_planning_simulator -r __ns:=/simulation -p use_sim_time:=False -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p 
rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7 --params-file /tmp/launch_params_cm1fjop5 --params-file /tmp/launch_params_99funsy_ -r input/vector_map:=/map/vector_map -r input/initialpose:=/initialpose3d -r input/ackermann_control_command:=/control/command/control_cmd -r input/manual_ackermann_control_command:=/vehicle/command/manual_control_cmd
 -r input/gear_command:=/control/command/gear_cmd -r input/manual_gear_command:=/vehicle/command/manual_gear_command -r input/turn_indicators_command:=/control/command/turn_indicators_cmd -r input/hazard_lights_command:=/control/command/hazard_lights_cmd -r input/trajectory:=/planning/scenario_planning/trajectory -r input/engage:=/vehicle/engage -r input/control_mode_request:=/control/control_mode_request -r outp
ut/twist:=/vehicle/status/velocity_status -r output/odometry:=/localization/kinematic_state -r output/acceleration:=/localization/acceleration -r output/imu:=/sensing/imu/imu_data -r output/steering:=/vehicle/status/steering_status -r output/gear_report:=/vehicle/status/gear_status -r output/turn_indicators_report:=/vehicle/status/turn_indicators_status -r output/hazard_lights_report:=/vehicle/status/hazard_light
s_status -r output/control_mode_report:=/vehicle/status/control_mode'].                                                                                                                                                                                                                                                                                                                                                         
[simple_planning_simulator_exe-53] terminate called after throwing an instance of 'rclcpp::exceptions::UninitializedStaticallyTypedParameterException'                                                                                                                                                                                                                                                                          
[simple_planning_simulator_exe-53]   what():  Statically typed parameter 'initial_engage_state' must be initialized.

[PhoebeWu21]

@PhoebeWu21 Following error has occured by this PR. Could you confirm whether the autoware can be launch correctly with your branch?

[ERROR] [simple_planning_simulator_exe-53]: process has died [pid 572727, exit code -6, cmd '/home/satoshi/pilot-auto/install/simple_planning_simulator/lib/simple_planning_simulator/simple_planning_simulator_exe --ros-args -r __node:=simple_planning_simulator -r __ns:=/simulation -p use_sim_time:=False -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p 
rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7 --params-file /tmp/launch_params_cm1fjop5 --params-file /tmp/launch_params_99funsy_ -r input/vector_map:=/map/vector_map -r input/initialpose:=/initialpose3d -r input/ackermann_control_command:=/control/command/control_cmd -r input/manual_ackermann_control_command:=/vehicle/command/manual_control_cmd
 -r input/gear_command:=/control/command/gear_cmd -r input/manual_gear_command:=/vehicle/command/manual_gear_command -r input/turn_indicators_command:=/control/command/turn_indicators_cmd -r input/hazard_lights_command:=/control/command/hazard_lights_cmd -r input/trajectory:=/planning/scenario_planning/trajectory -r input/engage:=/vehicle/engage -r input/control_mode_request:=/control/control_mode_request -r outp
ut/twist:=/vehicle/status/velocity_status -r output/odometry:=/localization/kinematic_state -r output/acceleration:=/localization/acceleration -r output/imu:=/sensing/imu/imu_data -r output/steering:=/vehicle/status/steering_status -r output/gear_report:=/vehicle/status/gear_status -r output/turn_indicators_report:=/vehicle/status/turn_indicators_status -r output/hazard_lights_report:=/vehicle/status/hazard_light
s_status -r output/control_mode_report:=/vehicle/status/control_mode'].                                                                                                                                                                                                                                                                                                                                                         
[simple_planning_simulator_exe-53] terminate called after throwing an instance of 'rclcpp::exceptions::UninitializedStaticallyTypedParameterException'                                                                                                                                                                                                                                                                          
[simple_planning_simulator_exe-53]   what():  Statically typed parameter 'initial_engage_state' must be initialized.

Hi @satoshi-ota, I did successfully launch in local.

I have no idea what happened. I will recheck detailly again.

[satoshi-ota]

Hi @PhoebeWu21 Thanks for your investigation.
Hmm... OK. I'll recheck, too.

[satoshi-ota]

@PhoebeWu21 I guess you can see above errors if you try following tutorials.
https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/#lane-driving-scenario

[satoshi-ota]

When it launches planning_simulator from autoware_launch repos, the launch file includes other sim model yaml here.

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

And, it seems that initial_engage_state param doesn't exist in the yaml file. I'm sure that this is the cause of the error.

[PhoebeWu21]

@satoshi-ota I see, thank you!
I add back { "initial_engage_state": LaunchConfiguration("initial_engage_state"), }, in simple_planning_simulator.launch.py file. It seems work for launching planning_simulator.
But the error Caught exception in launch (see debug for traceback): launch configuration 'initial_engage_state' does not exist will occur while launching the single simple_planning_simulator node.

[PhoebeWu21]

I add back { "initial_engage_state": LaunchConfiguration("initial_engage_state"), }, in simple_planning_simulator.launch.py file. It seems work for launching planning_simulator. But the error Caught exception in launch (see debug for traceback): launch configuration 'initial_engage_state' does not exist will occur while launching the single simple_planning_simulator node.

@satoshi-ota Hi, I am not sure how to deal with this situation, since I did not make any other change to the launch file.

[satoshi-ota]

@PhoebeWu21 Sorry for late reply. I'll investigate that error.

[satoshi-ota]

When it launches planning_simulator from autoware_launch repos, the launch file includes other sim model yaml here.

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

And, it seems that initial_engage_state param doesn't exist in the yaml file. I'm sure that this is the cause of the error.

Hi @PhoebeWu21
I think you need to add NOT ONLY initial_engage_state but also enable_road_slope_simulation, pos_noise_stddev, etc...

And, as I wrote, when we call planning_simulator.launch.xml, this file will be loaded. Actually, I confirmed that I could launch Psim with your branch after I added missing params to this file.

In short, we have to add missing params to simulator_model.param.yaml of ALL vehicle description packages (TIER IV has a lot of vehicle descriptions...) before removing default values in cpp file at first. So, I'll ask TIER IV internal member to help adding missing params.

[PhoebeWu21]

Hi @satoshi-ota,
I see. So I think I don't need do modify my branch until the missing params in simulator_model.param.yaml be added, right?

[stale]

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

[idorobotics]

In short, we have to add missing params to simulator_model.param.yaml of ALL vehicle description packages (TIER IV has a lot of vehicle descriptions...) before removing default values in cpp file at first. So, I'll ask TIER IV internal member to help adding missing params.

@satoshi-ota - have you received feedback on adding the missing params? Can @PhoebeWu21 continue with this task or will you be taking over to complete it?

[idorobotics]

@satoshi-ota could you update the current status of this PR?

[mitsudome-r]

I will take a look at this tomorrow since it's been blocked for a long time.

[stale]

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