refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters

[vividf]

Description

Description

This PR includes the following changes

1. Remove the default parameters for the ring outlier filter node.
2. Add parameter, launch file, and parameters schema for the node.
3. Change the name nodelet to node.

A big thank you to @Ariiees for the PRs (#8297 and #7422), where we worked together on the entire pointcloud preprocessor parameters, launch file, and schema.

Note that the schema for filter.param.yaml will be implemented in another PR.

Related links

Parent Issue:

• Link

How was this PR tested?

ros2 launch autoware_pointcloud_preprocessor ring_outlier_filter_node.launch.xml

Notes for reviewers

Need to merge together with
tier4/aip_launcher#305
autowarefoundation/sample_sensor_kit_launch#103

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 12 lines in your changes missing coverage. Please review.

Project coverage is 24.16%. Comparing base (1bf24e4) to head (1a1ecf9).

Files with missing lines	Patch %	Lines
...or/src/outlier_filter/ring_outlier_filter_node.cpp	0.00%	12 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8468      +/-   ##
==========================================
- Coverage   27.98%   24.16%   -3.83%     
==========================================
  Files        1319     1416      +97     
  Lines       98732   103181    +4449     
  Branches    39794    39518     -276     
==========================================
- Hits        27631    24930    -2701     
- Misses      71052    75868    +4816     
- Partials       49     2383    +2334     

Flag	Coverage Δ		*Carryforward flag
differential	21.58% <0.00%> (?)
total	24.12% <ø> (-3.87%)	⬇️	Carriedforward from cd0be8e

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-8468/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-8468/sensing/autoware_pointcloud_preprocessor/ring-outlier-filter/

[knzo25]

Left some comments (please check those that apply to the other PRs in this series of parameter related PRs)

[vividf]

PRs that need an additional cast for variables:

1. refactor(autoware_pointcloud_preprocessor): rework pointcloud accumulator parameters  #8487
2. refactor(autoware_pointcloud_preprocessor): rework random downsample filter parameters #8485
3. refactor(autoware_pointcloud_preprocessor): rework radius search 2d outlier filter parameters #8474
4. refactor(autoware_pointcloud_preprocessor): rework filter parameters  #8469
5. refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters #8468

[vividf]

Note: need to merge together with the PR autowarefoundation/sample_sensor_kit_launch#103

[badai-nguyen]

@vividf Could you also update the parameters for RingOutlierFilterComponent in aip_launcher

[vividf]

@badai-nguyen Sure, I will update it as well.

[knzo25]

@vividf
Remember to paste links of related PRs (like the one dai-san asked you). It is important to keep track as just pasting the link adds an event in the timeline of both PRs

[vividf]

Note: this PR should be merged together with

1. feat(aip_launcher): ring outlier filter node load from param file tier4/aip_launcher#305
2. feat(common_sensor_launch): ring outlier filter load from param file sample_sensor_kit_launch#103

[knzo25]

I do not how schema handles this, but ROS2 is quite squeamish about how it parses ints and floats differently.

-> 360.0

Also, some numbers are between commas and other not. Which is the correct version? Make it consistent

[vividf]

@knzo25 Thanks for the review. For the default value, from Amadeusz's suggestion, assigning the default values as strings will pass the number precisely.

Minimum and maximum values do not accept commas. Also, from the website examples and by testing local, 360 and 360.0 are the same (as they are just checking for the boundary but not related to ros2 parsing?)

[knzo25]

See the previous comment. Just checked and this applies in several places of this PR. Check other PRs and also the ones of this series that you already merged