refactor(lanelet2_map_preprocessor): rework parameter

[Motsu-san]

Description

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

• Remove the default value from the source code in order to ensure all parameter values are passed from the parameter files.
  • This PR.
• Create the yaml configs in this package and the autoware_launch repository.
  • This PR.
• Create the schema.
  • This PR.
• Update Parameters chapter in the readme file.
  • N/A

Tests performed

Check if the parameters set

ros2 launch lanelet2_map_preprocessor transform_maps.launch.xml llt_map_path:="$HOME/autoware_map/sample-map-rosbag/lanelet2_map.osm" pcd_map_path:="$HOME/autoware_map/sample-map-rosbag/pointcloud_map.pcd" llt_output_path:=lanelet2_map_tr.osm pcd_output_path:=pointcloud_map_tr.pcd z:=0.0
[INFO] [launch]: All log files can be found below /home/[your home dir]/.ros/log/2024-02-01-15-47-32-339799-dpc2302001-43645
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [transform_maps-1]: process started with pid [43646]
[transform_maps-1] transforming maps with following parameters
[transform_maps-1] x 0
[transform_maps-1] y 0
[transform_maps-1] z 0
[transform_maps-1] roll 0
[transform_maps-1] pitch 0
[transform_maps-1] yaw 0
[transform_maps-1] Loaded Lanelet2 map
[transform_maps-1] Loaded 326867 data points.
[transform_maps-1] using mgrs grid: 54SUE
[INFO] [transform_maps-1]: process has finished cleanly [pid 43646]

Check if json schema works

1. Confirm if check-jsonschema is installed.

pip3 install -U check-jsonschema

2. Command below

cd [Your Autoware.universe dir]/map/util/lanelet2_map_preprocessor
find -wholename '*/schema/*.schema.json' -printf '%p: ' -execdir bash -c 'check-jsonschema -v --schemafile "$1" ../config/"${1:2:-12}"*.param.yaml' bash '{}' +

result

map/util/lanelet2_map_preprocessor$ find -wholename '*/schema/*.schema.json' -printf '%p: ' -execdir bash -c 'check-jsonschema -v --schemafile "$1" ../config/"${1:2:-12}"*.param.yaml' bash '{}' +
./schema/transform_maps.schema.json: ok -- validation done
The following files were checked:
  ../config/transform_maps.param.yaml

Effects on system behavior

Not applicable.

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Summary by CodeRabbit

• New Feature: Added support for installing YAML configuration files along with the package.
• Bug Fix: Removed default values for parameters in the launch file and source code, allowing all parameter values to be passed from YAML configuration files.
• Refactor: Improved modularity and maintainability by separating configuration files from the codebase.
• Documentation: Updated release notes to provide a summary of changes made to the package.

[github-actions]

CodeRabbit

Walkthrough

The changes in this pull request introduce a new directory called config to the package and include it in the installation. This allows YAML configuration files to be installed along with the package. Additionally, the default values for parameters in the launch file and source code have been removed. Instead, a new parameter param_file has been introduced, which points to a YAML configuration file. The parameter values are now read from this file, allowing all parameter values to be passed from the parameter files rather than being hardcoded in the source code.

Changes

File	Summary
map/util/lanelet2_map_preprocessor/CMakeLists.txt	Adds a new directory called config to the package and includes it in the installation.
map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml	Removes default values for parameters and introduces a new parameter param_file to read parameter values from a YAML configuration file.
map/util/lanelet2_map_preprocessor/src/transform_maps.cpp	Removes default values from the source code and retrieves parameter values directly from the parameter files.

"Config files now dance,
Parameters have a chance.
Hardcoding no more,
Flexibility we adore.
With YAML in our hands,
Our code gracefully expands."

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[github-actions]

CodeRabbit

Commits

Files that changed from the base of the PR and between 0262c68 and 5e6123a commits.

Files selected (3)

• map/util/lanelet2_map_preprocessor/CMakeLists.txt (1)
• map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml (1)
• map/util/lanelet2_map_preprocessor/src/transform_maps.cpp (1)

Files ignored due to filter (2)

• map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml
• map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json

Files skipped from review due to trivial changes (1)

• map/util/lanelet2_map_preprocessor/CMakeLists.txt

Review comments generated (2)

• Review: 1
• LGTM: 1

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[codecov]

Codecov Report

Attention: 6 lines in your changes are missing coverage. Please review.

Comparison is base (78eea31) 14.84% compared to head (5a710cc) 14.84%.

Files	Patch %	Lines
...l/lanelet2_map_preprocessor/src/transform_maps.cpp	0.00%	6 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #6218   +/-   ##
=======================================
  Coverage   14.84%   14.84%           
=======================================
  Files        1838     1838           
  Lines      126712   126712           
  Branches    37976    37976           
=======================================
  Hits        18816    18816           
  Misses      86649    86649           
  Partials    21247    21247           

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.85% <ø> (+<0.01%)	⬆️	Carriedforward from 78eea31

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[Motsu-san]

@mitsudome-r Could you review this pull-request again?

[Motsu-san]

@mitsudome-r Friendly ping.

[mitsudome-r]

There should be schema for map paths as well:

        "llt_map_path": {
          "type": "string",
          "description": "Path pointing to the input lanelet2 file",
          "default": ""
        },
        "pcd_map_path": {
          "type": "string",
          "description": "Path pointing to the input point cloud file",
          "default": ""
        },
        "llt_output_path": {
          "type": "string",
          "description": "Path pointing to the output lanelet2 file",
          "default": ""
        },
        "pcd_output_path": {
          "type": "string",
          "description": "Path pointing to the output point cloud file",
          "default": ""
        },

[Motsu-san]

I've modified it as you said. Thank you.

[Motsu-san]

@mitsudome-r I've modified it to be reviewed. Could you review this pull-request again?