refactor(lidar_centerpoint): rework parameters

[tby-udel]

Description

Implement the ROS Node configuration layout for the lidar_centerpoint package.

Remove the default value from the source code in order to ensure all parameter values are passed from the parameter files.
Use types that match the ones returned from declare_parameter() in order to prevent confusion and potential coding errors.
Move the default parameter file to a standardized location. Use the JSON Schema for that.

Tests performed

Built and launched

Notes for reviewers
I was using autoware's docker with Nvidia to build and do the test, and pulled the docker tagged: ghcr.io/autowarefoundation/autoware-universe:latest-cuda. However, after I successfully made changes, built and launched the docker's lidar_centerpoint code, I found that the code is very different from the current autoware.universe repository, so I re-changed the code in the current autoware.universe and built and tested.

Effects on system behavior

None

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[kminoda]

@tby-udel Thank you for your contribution.
Please follow this contribution guideline first: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/#pull-request-rules (e.g. PR title)

[knzo25]

@tby-udel
Thank you for your contribution.
As it is now, the package does not comply fully with the schema.
For example, in addition to the changes to the README.md (the old tables should be deleted), some schemas are missing - some parameters are not covered (see the yaml files).
Could you address this points in the PR 🙏 ?

[knzo25]

@tby-udel
Thanks for handling the changes. However, it seems that one of the schema files does not have the schema.json file extension and that the CI/CD is failing for the schemas. Could you take a look at it ? 🙏

[tby-udel]

It's solved now and updated.

…

On Wed, Jun 5, 2024 at 3:41 AM Kenzo Lobos Tsunekawa < ***@***.***> wrote: @tby-udel <https://github.com/tby-udel> Thanks for handling the changes. However, it seems that one of the schema files does not have the schema.json file extension and that the CI/CD is failing for the schemas. Could you take a look at it ? 🙏 — Reply to this email directly, view it on GitHub <#7204 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/BCL5CFSVNPRAMBOEB7XZSZTZF26I5AVCNFSM6AAAAABITPUZ26VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNBZGA4TSMZQGA> . You are receiving this because you were mentioned.Message ID: ***@***.***>

-- Sincerely, Boyang Tian Phd Student, University of Delaware 3026099121 | ***@***.*** [image: linkedin] <https://www.linkedin.com/in/boyangtian>

[knzo25]

@tby-udel
It seems it is still failing 😢

[knzo25]

Closing in favor of #7421