refactor(perception/occupancy_grid_map_outlier_filter): rework parameters

[oguzkaganozt]

Description

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

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-6745/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-6745/perception/autoware_occupancy_grid_map_outlier_filter/

[YoshiRi]

Sorry for super-late reply. 🙇
Though the changes LGTM within this package, this PR breaks current sample execution due to launch file is not well defined in the user of this outlier filter.
I will convert it to draft for now. Re-open this PR after sample rosbag execution problem is fixed.

[oguzkaganozt]

Any updates from rosbag execution problem ? @YoshiRi

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[oguzkaganozt]

Ready for review @YoshiRi

[YoshiRi]

@oguzkaganozt cc: @Shin-kyoto @badai-nguyen
Sorry about my super late reply 🙇

This package change seems to be okay, but this will cause trouble with occupancy_grid_based_outlier_filter node declaration in ground_segmentation.launch.py.

I think we need following approach:

• 1. add your config file to autoware_launch
• 2. modify ground_segmentation.launch.py to look for the config file

I will do 1. first, and want to merge this PR after 2. is solved. ( to prevent autoware crush )

[YoshiRi]

@badai-nguyen
Could you review this?

[oguzkaganozt]

Hi any updates on this ? @YoshiRi @badai-nguyen

[oguzkaganozt]

Hi any updates on this ? @badai-nguyen @YoshiRi

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 10 lines in your changes missing coverage. Please review.

Project coverage is 24.15%. Comparing base (eac6332) to head (70195b3).
Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
...ter/src/occupancy_grid_map_outlier_filter_node.cpp	0.00%	10 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6745      +/-   ##
==========================================
- Coverage   24.15%   24.15%   -0.01%     
==========================================
  Files        1400     1400              
  Lines      102252   102261       +9     
  Branches    38758    38761       +3     
==========================================
  Hits        24697    24697              
- Misses      75046    75055       +9     
  Partials     2509     2509              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	24.15% <ø> (+<0.01%)	⬆️	Carriedforward from eac6332

*This pull request uses carry forward flags. Click here to find out more.

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[YoshiRi]

I think we need to change related launcher:
YoshiRi@80bfc95

But sorry, I had not tested yet.
@oguzkaganozt
If you do not mind, can anyone test with loggin simulator?

autoware_launch need to be updated before testing this.

[badai-nguyen]

This package change seems to be okay, but this will cause trouble with occupancy_grid_based_outlier_filter node declaration in ground_segmentation.launch.py.
I think we need following approach:

• 1. add your config file to autoware_launch
• 2. modify ground_segmentation.launch.py to look for the config file
     I will do 1. first, and want to merge this PR after 2. is solved. ( to prevent autoware crush )

@oguzkaganozt Thank you for your contribution,
I think @YoshiRi already left a comment as above, could you confirm and solve 2 as his suggestion?

[YoshiRi]

I fixed launch problem in a6f83ef and f3d008d.
Tested with my local PC.

@Shin-kyoto @badai-nguyen
Could you update the status?

It already resolved