refactor(ekf_localizer): rework parameters

[Motsu-san]

Description

This pull request must be merged with the autoware_launch pull request.
Please see both pull request.

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.
  • already completed.
• Create the yaml configs in this package and the autoware_launch repository.
  • already completed.
• Create the schema.
  • This PR.
• Update Parameters chapter in the readme file.
  • This PR.

Tests performed

confirm parameters

1. run autoware & replay rosbag that can start localization(Autoware sample rosbag is recommended).
2. command the following

ros2 param dump /localization/pose_twist_fusion_filter/ekf_localizer 

expected result

/localization/pose_twist_fusion_filter/ekf_localizer:
  ros__parameters:
    diagnostics:
      pose_no_update_count_threshold_error: 100
      pose_no_update_count_threshold_warn: 50
      twist_no_update_count_threshold_error: 100
      twist_no_update_count_threshold_warn: 50
    misc:
      threshold_observable_velocity_mps: 0.0
    node:
      enable_yaw_bias_estimation: true
      extend_state_step: 50
      predict_frequency: 50.0
      publish_tf: true
      show_debug_info: false
      tf_rate: 50.0
    pose_frame_id: map
    pose_measurement:
      pose_additional_delay: 0.0
      pose_gate_dist: 10000.0
      pose_smoothing_steps: 5
    process_noise:
      proc_stddev_vx_c: 10.0
      proc_stddev_wz_c: 5.0
      proc_stddev_yaw_c: 0.005
    qos_overrides:
      /clock:
        subscription:
          depth: 1
          durability: volatile
          history: keep_last
          reliability: best_effort
      /parameter_events:
        publisher:
          depth: 1000
          durability: volatile
          history: keep_last
          reliability: reliable
      /tf:
        publisher:
          depth: 100
          durability: volatile
          history: keep_last
          reliability: reliable
    simple_1d_filter_parameters:
      pitch_filter_proc_dev: 0.01
      roll_filter_proc_dev: 0.01
      z_filter_proc_dev: 1.0
    twist_measurement:
      twist_additional_delay: 0.0
      twist_gate_dist: 10000.0
      twist_smoothing_steps: 2
    use_sim_time: true

Confirm json schema

1. Confirm if check-jsonschema is installed.

pip3 install -U check-jsonschema

2. Command the following

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

result

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

Confirm README display

1. Ready to use mkdocs serve with this instruction.
2. Command the following

cd [Your Autoware.universe dir]
mkdocs serve

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 29 lines in your changes are missing coverage. Please review.

Comparison is base (9b4d7e4) 14.91% compared to head (1602f56) 14.36%.
Report is 4 commits behind head on main.

❗ Current head 1602f56 differs from pull request most recent head a363f86. Consider uploading reports for the commit a363f86 to get more accurate results

Files	Patch %	Lines
...calizer/include/ekf_localizer/hyper_parameters.hpp	0.00%	0 Missing and 29 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6196      +/-   ##
==========================================
- Coverage   14.91%   14.36%   -0.55%     
==========================================
  Files        1817     1907      +90     
  Lines      125357   130137    +4780     
  Branches    37640    37641       +1     
==========================================
+ Hits        18693    18697       +4     
- Misses      85652    90426    +4774     
- Partials    21012    21014       +2     

Flag	Coverage Δ		*Carryforward flag
differential	43.79% <0.00%> (?)
total	14.37% <ø> (-0.55%)	⬇️	Carriedforward from bd4b5ca

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[KYabuuchi]

I will review soon. Please wait 🙏

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-6196/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-6196/localization/ekf_localizer/

[KYabuuchi]

The pose_frame_id parameter has a default value so please modify it. 🙏
Except for that, there is no problem

[KYabuuchi]

LGTM 🙆