refactor(gnss_poser): rework parameters

[PhoebeWu21]

Description

Implement the ROS Node configuration layout described in https://github.com/orgs/autowarefoundation/discussions/3371 for the gnss_poser 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 successfully build and launch locally.
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to gnss_poser

Effects on system behavior

More reliable and faster parameter configuration file creation.

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (017aed4) 15.32% compared to head (ce56b2b) 14.63%.
Report is 13 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4693      +/-   ##
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- Coverage   15.32%   14.63%   -0.69%     
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  Files        1721     1526     -195     
  Lines      118563   104742   -13821     
  Branches    37999    31696    -6303     
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- Hits        18170    15333    -2837     
+ Misses      79657    72495    -7162     
+ Partials    20736    16914    -3822     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <ø> (?)
total	14.65% <ø> (-0.68%)	⬇️	Carriedforward from 517bd91

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[kminoda]

@PhoebeWu21 (cc: @YamatoAndo)
Thank you for your contribution 😄 . The overall idea of this PR looks good to me 👍

However, if you don't mind, can we halt this PR and leave this package as it is for a short period of time?

The main reason is that this modification may change how parameters are reflected to gnss_poser in various project going on in Autoware Foundation. If we extract some parameters (like coordinate_system, which is reflected in sample_sensor_kit_launch) to yaml file, coordinate_system will not be reflected any longer, which would change the whole system behavior. It is possible that the similar situation may exists in many Autoware projects.

Essentially, this comes from the duplicated parameter maintenance of some parameters like coordinate_system, which ideally should be handled with map files (in map_projection_loader). In other words, current gnss_poser parameters are not optimal, but rather in a "temporary" state. That being said, I propose to first do a major refactoring on gnss_poser to remove all such parameters (coordinate_system, plane_zone, latitude, etc), and then extract the parameters as well as introducing JSON Schema as proposed in this PR. This should save us the additional cost of going through some other packages to mitigate the impact on current Autoware projects.

If you don't mind, I will handle the above major refactoring by myself, so would you do me a favor of holding this PR for a moment? It shouldn't take that much of time, but may take for several weeks if things gets complicated. But definitely doable.

[PhoebeWu21]

@PhoebeWu21 (cc: @YamatoAndo) Thank you for your contribution 😄 . The overall idea of this PR looks good to me 👍

However, if you don't mind, can we halt this PR and leave this package as it is for a short period of time?

The main reason is that this modification may change how parameters are reflected to gnss_poser in various project going on in Autoware Foundation. If we extract some parameters (like coordinate_system, which is reflected in sample_sensor_kit_launch) to yaml file, coordinate_system will not be reflected any longer, which would change the whole system behavior. It is possible that the similar situation may exists in many Autoware projects.

Essentially, this comes from the duplicated parameter maintenance of some parameters like coordinate_system, which ideally should be handled with map files (in map_projection_loader). In other words, current gnss_poser parameters are not optimal, but rather in a "temporary" state. That being said, I propose to first do a major refactoring on gnss_poser to remove all such parameters (coordinate_system, plane_zone, latitude, etc), and then extract the parameters as well as introducing JSON Schema as proposed in this PR. This should save us the additional cost of going through some other packages to mitigate the impact on current Autoware projects.

If you don't mind, I will handle the above major refactoring by myself, so would you do me a favor of holding this PR for a moment? It shouldn't take that much of time, but may take for several weeks if things gets complicated. But definitely doable.

Got it. Okay!

[stale]

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

[YamatoAndo]

@kminoda Has your refactoring been completed? If it's done, please let us know.

[kminoda]

@YamatoAndo Thank you for the reminder 🙏
@PhoebeWu21 It is now complete, so you may restart working on this PR, thanks

[PhoebeWu21]

@YamatoAndo Thank you for the reminder 🙏 @PhoebeWu21 It is now complete, so you may restart working on this PR, thanks

@kminoda Okay, thanks!