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.

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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]

This seems to be using the old way of declaring parameters

[knzo25]

*note: I am referring to has_static_tf_only_

[vividf]

@amadeuszsz will remove the default parameters for has_static_tf_only_ for all of the nodes after schema-related PRs are merged :)

[knzo25]

@vividf
Sure, but if that does not happen in the near future, please send a PR. It will look weird otherwise

[knzo25]

(I will be mark as approved but leave the conversation open for future reference)

[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

(RobotecAI/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?