refactor(image_projection_based_fusion): add JSON Schema and remove default value spefications

[ktro2828]

Description

• Add ROS node configuration with JSON Schema as discussed in https://github.com/orgs/autowarefoundation/discussions/3371
• Remove default parameter specified in declare_parameter()

related PR: autowarefoundation/autoware_launch#739

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[ktro2828]

@yukke42 @tzhong518 @badai-nguyen Could check the parameters for the packages which each of you worked?

[badai-nguyen]

@ktro2828 Thank you for your PR. Since the roi_pointcloud_fusion node was added recently, I really appreciate if you also add scheme json for that node's params.

autoware.universe/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp

Lines 35 to 37 in c552c3d

	fuse_unknown_only_ = declare_parameter<bool>("fuse_unknown_only");
	min_cluster_size_ = declare_parameter<int>("min_cluster_size");
	cluster_2d_tolerance_ = declare_parameter<double>("cluster_2d_tolerance");

[ktro2828]

@badai-nguyen I added a configuration and schema for roi_pointcloud_fusion in 130791e

[codecov]

Codecov Report

Attention: 130 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (7b03f74) 0.00%.
Report is 177 commits behind head on main.

Files	Patch %	Lines
.../image_projection_based_fusion/src/fusion_node.cpp	0.00%	33 Missing ⚠️
...ion_based_fusion/src/pointpainting_fusion/node.cpp	0.00%	28 Missing ⚠️
...age_projection_based_fusion/src/utils/geometry.cpp	0.00%	22 Missing ⚠️
...sion/src/pointpainting_fusion/preprocess_kernel.cu	0.00%	18 Missing ⚠️
...usion/src/pointpainting_fusion/voxel_generator.cpp	0.00%	13 Missing ⚠️
...ion/src/pointpainting_fusion/pointpainting_trt.cpp	0.00%	9 Missing ⚠️
...ction_based_fusion/src/roi_cluster_fusion/node.cpp	0.00%	7 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #4902       +/-   ##
==========================================
- Coverage   15.32%   0.00%   -15.33%     
==========================================
  Files        1721      13     -1708     
  Lines      118559    1029   -117530     
  Branches    37995       0    -37995     
==========================================
- Hits        18169       0    -18169     
+ Misses      79657    1029    -78628     
+ Partials    20733       0    -20733     

Flag	Coverage Δ
differential	0.00% <0.00%> (?)
total	?

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[ktro2828]

@badai-nguyen Sorry for late to reaction, I fixed all you suggested.

[badai-nguyen]

@ktro2828
All image_projection_based_fusion releaded nodes still cannot be loaded with autoware
[ERROR] [roi_detected_object_fusion_node-51]: process has died [pid 57163, exit code -6, cmd '/home/autoware/autoware/install/image_projection_based_fusion/lib/image_projection_based_fusion/roi_detected_object_fusion_node --ros-args -r __node:=roi_detected_object_fusion -r __ns:=/perception/object_recognition/detection -p use_sim_time:=True -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7 --params-file /tmp/launch_params_y3act209 --params-file /home/autoware/autoware/install/image_projection_based_fusion/share/image_projection_based_fusion/config/roi_detected_object_fusion.param.yaml --params-file /home/autoware/autoware/install/autoware_launch/share/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml --params-file /tmp/launch_params_1h8tfapn --params-file /tmp/launch_params_nl5xikak --params-file /tmp/launch_params_86kncd14 --params-file /tmp/launch_params_s7tl5q98 --params-file /tmp/launch_params_f7utsrw3 --params-file /tmp/launch_params_sj8c3jdo --params-file /tmp/launch_params_94a3_iuw --params-file /tmp/launch_params_70fyqug7 --params-file /tmp/launch_params_fc6kx_kj --params-file /tmp/launch_params_4s08xmb_ --params-file /tmp/launch_params_evx9gfnf --params-file /tmp/launch_params_bdmn5ypu --params-file /tmp/launch_params_0x0ky2ub --params-file /tmp/launch_params__v_2dkbe --params-file /tmp/launch_params_5ze5s4hs --params-file /tmp/launch_params_swedhxjf --params-file /tmp/launch_params_zcd9mfd2 --params-file /tmp/launch_params_mlp_7op8 --params-file /tmp/launch_params_9tp9l3yw --params-file /tmp/launch_params_w7wsi1c1 --params-file /tmp/launch_params_x8ora7is --params-file /tmp/launch_params__bgv8bwh --params-file /tmp/launch_params_4y8erxph --params-file /tmp/launch_params_ych09njm -r input:=centerpoint/objects -r output:=centerpoint/roi_fusion/objects'].

The reason is:
[roi_detected_object_fusion_node-51] what(): Statically typed parameter 'filter_scope_min_x' must be initialized.

[badai-nguyen]

@ktro2828
I think the roi_sync.param.yaml also need to be updated. I created PR for that autowarefoundation/autoware_launch#739

[badai-nguyen]

LGTM