fix(raw_vehicle_cmd_converter): fix parameter files to parse path to csv files

[rej55]

Description

According to #5134, some parameters are moved into yaml files.
However, if we launch raw_vehicle_cmd_converter from autoware_launch, some parameters defined in launch files does not appear.

In this change, I fixed above problems.

accel/brake/steer map path should change at launch, so I removed csv_path_**_map from yaml file and add them into xml file.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[rej55]

@PhoebeWu21
Hello,

I changed the parameter file in raw_vehicle_cmd_converter to change path to csv files dynamically.
Do you have any comments for this change?

[yukkysaito]

LGTM

[PhoebeWu21]

@PhoebeWu21 Hello,

I changed the parameter file in raw_vehicle_cmd_converter to change path to csv files dynamically. Do you have any comments for this change?

Looks good to me.
But, @ambroise-arm I'm not sure if this is fine in ROS Node Configuration layout rule.

[ambroise-arm]

@PhoebeWu21 All parameters defined in the C++ code should be listed in the schema and parameter files according to the ROS Node Configuration page. If we want both that and being able to pass the parameters from external launch file, I think this leads to the same discussion about parameter override as in #5773. I don't think there was a clear conclusion on what should be done.

[rej55]

@PhoebeWu21 @ambroise-arm Thank you for your comments!
We want to fix the problem for parameter overriding for now, is it okay to merge this PR?
Let us discuss the problem again separately.

[TakaHoribe]

This PR looks good to me to fix the current problem. However, we need to discuss how to support both the json schema and passing arguments from launch as in the comment from @ambroise-arm .

@rej55 Would you make an issue for this?

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (56dcff5) 14.60% compared to head (bfadc87) 14.60%.
Report is 4 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #6136   +/-   ##
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  Coverage   14.60%   14.60%           
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  Files        1860     1860           
  Lines      127418   127418           
  Branches    37286    37286           
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  Hits        18606    18606           
  Misses      87903    87903           
  Partials    20909    20909           

Flag	Coverage Δ		*Carryforward flag
differential	10.52% <ø> (?)
total	14.60% <ø> (ø)		Carriedforward from 56dcff5

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[rej55]

It seems the same issue is discussed in autowarefoundation/autoware-github-actions#232