refactor(autoware_pointcloud_preprocessor): rework filter parameters

[vividf]

Description

This PR includes the following changes

1. Remove the default parameters for the filter class.
2. Add parameter, and parameters schema for the class.

A big thank you to @Ariiees for the PRs (#8297 and #7422), where we worked together on the entire pointcloud preprocessor parameters, launch file, and schema.

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-8469/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-8469/sensing/autoware_pointcloud_preprocessor/

[vividf]

PRs that need an additional cast for variables:

1. refactor(autoware_pointcloud_preprocessor): rework pointcloud accumulator parameters  #8487
2. refactor(autoware_pointcloud_preprocessor): rework random downsample filter parameters #8485
3. refactor(autoware_pointcloud_preprocessor): rework radius search 2d outlier filter parameters #8474
4. refactor(autoware_pointcloud_preprocessor): rework filter parameters  #8469
5. refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters #8468

[vividf]

Note that this PR needs to be merged together with PR autowarefoundation/sample_sensor_kit_launch#104 in the common_sensor _launch

[knzo25]

Left some review comments

[knzo25]

LGTM

[SakodaShintaro]

Some filters are launched in tier4_localization_launch.

autoware.universe/launch/tier4_localization_launch/launch/util/util.launch.xml

Lines 11 to 31 in c7d9b9b

	<load_composable_node target="$(var localization_pointcloud_container_name)">
	<composable_node pkg="autoware_pointcloud_preprocessor" plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
	<param from="$(var ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path)"/>
	<remap from="input" to="$(var input_pointcloud)"/>
	<remap from="output" to="measurement_range/pointcloud"/>
	<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
	</composable_node>
	<composable_node pkg="autoware_pointcloud_preprocessor" plugin="autoware::pointcloud_preprocessor::VoxelGridDownsampleFilterComponent" name="voxel_grid_downsample_filter">
	<param from="$(var ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path)"/>
	<remap from="input" to="measurement_range/pointcloud"/>
	<remap from="output" to="voxel_grid_downsample/pointcloud"/>
	<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
	</composable_node>
	<composable_node pkg="autoware_pointcloud_preprocessor" plugin="autoware::pointcloud_preprocessor::RandomDownsampleFilterComponent" name="random_downsample_filter">
	<param from="$(var ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path)"/>
	<remap from="input" to="voxel_grid_downsample/pointcloud"/>
	<remap from="output" to="$(var output/pointcloud)"/>
	<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
	</composable_node>

I feel like this also needs to be fixed, is that correct?
Also, should this be fixed by the localization team?

[SakodaShintaro]

To run Autoware + AWSIM, I need the following changes.

• autoware.universe: SakodaShintaro@6763725
• autoware_launch: SakodaShintaro/autoware_launch@948b1bf

(tier4/awsim_sensor_kit_launch@main...SakodaShintaro:awsim_sensor_kit_launch:fix/filter_param is also needed)

Test procedure

(1) Download AWSIM v1.3.0
(2) Download nishishinjuku map
(3) Launch AWSIM $HOME/Downloads/AWSIM_v1.3.0/AWSIM.x86_64
(4) Source source ~/autoware/install/setup.bash
(5) Launch Autoware

ros2 launch autoware_launch e2e_simulator.launch.xml \
    map_path:=$HOME/Downloads/nishishinjuku_autoware_map_divided \
    vehicle_model:=sample_vehicle \
    sensor_model:=awsim_sensor_kit

(6) Set goal

ros2 topic pub -1 /planning/mission_planning/goal geometry_msgs/msg/PoseStamped '{
  header: {
    stamp: {sec: 181, nanosec: 289995947},
    frame_id: 'map'},
  pose: {
    position: { x: 81536.5703, y: 50199.3632, z: 34.2321 },
    orientation: { x: +0.0099193127825856, y: -0.0045161009766161, z: -0.0861385315656662, w: -0.9962236285209656 }
  }
}'

(7) Engage

ros2 topic pub /autoware/engage autoware_vehicle_msgs/msg/Engage "engage: true" -1

@vividf
Could you please check it on your PC and update the pull request on autoware.universe and create a pull request on autoware_launch?

[vividf]

I’ll close this PR for now, as there are too many launch files utilizing nodes based on the filter class. Adding all the parameters to each launch file would make it even more complex.

[vividf]

@SakodaShintaro
Thanks for your detailed instruction, however, following the installation and setup process, pointcloud didn't show up in AWSIM (but awsim labs works).

Anyway, this change makes everything more complex so I will close this PR for now.
Thanks for your work! I really appreciate it!