refactor(ndt_scan_matcher): rework parameters

[YamatoAndo]

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.
  • 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

Lsim works.
passed check-jsonschema.

Effects on system behavior

Not applicable.

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[YamatoAndo]

I will open this pr after merging #6208 and #6231

[SakodaShintaro]

@YamatoAndo

It works fine when I check schema locally in my pc.

~/autoware/src/universe/autoware.universe/localization$ find -wholename '*/schema/*.schema.json' -printf '%p: ' -execdir bash -c 'check-jsonschema --schemafile "$1" ../config/"${1:2:-12}"*.param.yaml' bash '{}' +
./pose_instability_detector/schema/pose_instability_detector.schema.json: ok -- validation done
./twist2accel/schema/twist2accel.schema.json: ok -- validation done
./gyro_odometer/schema/gyro_odometer.schema.json: ok -- validation done
./yabloc/yabloc_common/schema/ll2_decomposer.schema.json: ./yabloc/yabloc_common/schema/ground_server.schema.json: ok -- validation done
./yabloc/yabloc_image_processing/schema/graph_segment.schema.json: ./yabloc/yabloc_image_processing/schema/segment_filter.schema.json: ./yabloc/yabloc_image_processing/schema/undistort.schema.json: ok -- validation done
./yabloc/yabloc_pose_initializer/schema/camera_pose_initializer.schema.json: ok -- validation done
./yabloc/yabloc_monitor/schema/yabloc_monitor.schema.json: ok -- validation done
./yabloc/yabloc_particle_filter/schema/camera_particle_corrector.schema.json: ./yabloc/yabloc_particle_filter/schema/gnss_particle_corrector.schema.json: ./yabloc/yabloc_particle_filter/schema/predictor.schema.json: ok -- validation done
./geo_pose_projector/schema/geo_pose_projector.schema.json: ok -- validation done
./ndt_scan_matcher/schema/ndt_scan_matcher.schema.json: ok -- validation done
./landmark_based_localizer/ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json: ok -- validation done
./localization_error_monitor/schema/localization_error_monitor.schema.json: ok -- validation done
./stop_filter/schema/stop_filter.schema.json: ok -- validation done

However, it seems that the pull request check is failing.

https://github.com/autowarefoundation/autoware.universe/actions/runs/7707283935/job/21135764003?pr=6229

./localization/ndt_scan_matcher/schema/ndt_scan_matcher.schema.json: Schema validation errors were encountered.
  ../config/ndt_scan_matcher.param.yaml::$./**.ros__parameters: 'frame' is a required property
  ../config/ndt_scan_matcher.param.yaml::$./**.ros__parameters: 'ndt' is a required property
  ../config/ndt_scan_matcher.param.yaml::$./**.ros__parameters: 'initial_pose_estimation' is a required property
  ../config/ndt_scan_matcher.param.yaml::$./**.ros__parameters: 'validation' is a required property
  ../config/ndt_scan_matcher.param.yaml::$./**.ros__parameters: 'score_estimation' is a required property
  ../config/ndt_scan_matcher.param.yaml::$./**.ros__parameters: 'covariance' is a required property
  ../config/ndt_scan_matcher.param.yaml::$./**.ros__parameters: 'dynamic_map_loading' is a required property
  ../config/ndt_scan_matcher.param.yaml::$./**.ros__parameters: Additional properties are not allowed ('base_frame', 'converged_param_nearest_voxel_transformation_likelihood', 'converged_param_transform_probability', 'converged_param_type', 'critical_upper_bound_exe_time_ms', 'dynamic_map_loading_map_radius', 'dynamic_map_loading_update_distance', 'estimate_scores_by_no_ground_points', 'initial_estimate_particles_num', 'initial_pose_distance_tolerance_m', 'initial_pose_offset_model_x', 'initial_pose_offset_model_y', 'initial_pose_timeout_sec', 'input_sensor_points_queue_size', 'lidar_radius', 'lidar_topic_timeout_sec', 'map_frame', 'max_iterations', 'n_startup_trials', 'ndt_base_frame', 'num_threads', 'output_pose_covariance', 'regularization_enabled', 'regularization_scale_factor', 'resolution', 'step_size', 'trans_epsilon', 'use_covariance_estimation', 'z_margin_for_ground_removal' were unexpected)

Do you know what the cause is?

[YamatoAndo]

Sorry.
I need to update the branch after merging #6208.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (57f8a94) 14.37% compared to head (f66d080) 14.37%.
Report is 2 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #6229   +/-   ##
=======================================
  Coverage   14.37%   14.37%           
=======================================
  Files        1907     1907           
  Lines      130072   130071    -1     
  Branches    37618    37617    -1     
=======================================
  Hits        18697    18697           
+ Misses      90366    90365    -1     
  Partials    21009    21009           

Flag	Coverage Δ		*Carryforward flag
differential	3.49% <ø> (?)
total	14.37% <ø> (+<0.01%)	⬆️	Carriedforward from 57f8a94

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[SakodaShintaro]

I have confirmed followings.

• find -wholename '*/schema/*.schema.json' -printf '%p: ' -execdir bash -c 'check-jsonschema --schemafile "$1" ../config/"${1:2:-12}"*.param.yaml' bash '{}' +
• mkdocs serve
• logging_simulator
• Code Review
  • mainly checking consistency of parameter descriptions, types and ranges

Looks Good To Me