refactor(autoware_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 autoware_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

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines
• The PR follows the pull request guidelines

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.
  After all checkboxes are checked, anyone who has write access can merge the PR.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[vividf]

@Ariiees
Some issues need to be fixed.

• I couldn't find the schema for radius_search_2d_outlier_filter.schema.json
• The default parameters for all nodes have not been removed.
• Cropbox schema misses the negative parameter

The command you provide is the old version of pointcloud_preprocessor. Now it is called autoware_pointcloud_preprocessor.
Please make sure you test all of the launchers and also double-check all of the files.
Thanks :)

Btw, thanks for your hard work, I know that this PR is quite big and needs a lot of checks, If you feel that it is a bit hard to finish this PR, please let me know.

[Ariiees]

@vividf Thank you so much for your patience and help recently! I have updated the src folder and solved the schema problem.

But after I combined the code to the current main, I encountered an error during the build for autoware_universe_utitls: tier4_debug_msgs/msg/processing_time_node.hpp: No such file or directory.

(autoware_universe_utilis is a new folder under common)

[vividf]

Seems that there are lots of conflictions here

[vividf]

@Ariiees I think it would be easier if you modify the src/xxx.cpp file again (I think it will not be too hard since we already have the accurate version to compare with). From the 37a7d37 there are some conflicts, and I think that is why the build is failed.

[vividf]

@Ariiees
I apologize for the recent delays; there have been significant changes in Autoware that have made it difficult to finalize this PR. Upon reviewing the PR again, I noticed that some files are missing, and the large number of changes has made it challenging to identify the bug accurately.

To address this, I propose breaking down this large PR into smaller, more manageable ones, which will make the review process more efficient. However, I realize this may require considerable time and effort on your part, so I will take over the task of separating the PRs to ensure a smoother review process.

Thank you again for your hard work! I will be sure to acknowledge your contributions in each PR.

[vividf]

I will close this PR to separate large PR to smaller PRs

[Ariiees]

@Ariiees I apologize for the recent delays; there have been significant changes in Autoware that have made it difficult to finalize this PR. Upon reviewing the PR again, I noticed that some files are missing, and the large number of changes has made it challenging to identify the bug accurately.

To address this, I propose breaking down this large PR into smaller, more manageable ones, which will make the review process more efficient. However, I realize this may require considerable time and effort on your part, so I will take over the task of separating the PRs to ensure a smoother review process.

Thank you again for your hard work! I will be sure to acknowledge your contributions in each PR.

Hi @vividf. Thank you so much for your help and patience with me on this PR! I will work on the new separate PR!