refactor(autoware_lidar_transfusion): split config

[amadeuszsz]

Description

This PR split autoware_lidar_transfusion parameter file for two configs:

• Parameters strictly related to deployed model.
• Parameters related to runtime behavior.

The same approach is applied in autoware_lidar_centerpoint package.

Related links

Parent Issue:

• feat(autoware_lidar_transfusion): add transfusion config autoware_launch#1093
• feat(ansible): update config autoware#5036

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.20%. Comparing base (5093495) to head (13e3fcd).
Report is 10 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8205      +/-   ##
==========================================
- Coverage   29.24%   29.20%   -0.04%     
==========================================
  Files        1600     1601       +1     
  Lines      117738   117551     -187     
  Branches    50720    50654      -66     
==========================================
- Hits        34427    34335      -92     
+ Misses      74120    74004     -116     
- Partials     9191     9212      +21     

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total	29.20% <ø> (-0.04%)	⬇️	Carriedforward from 9c3f1f2

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[amadeuszsz]

@kminoda @knzo25
json-schema-check fails due to same file name prefix here.
Unfortunately, we can't remove asterisk from {base_name}*.param.yaml in CI because this convention is widely used among Autoware packages to apply schema file on multiple param files. We can:

• Change file name convention from <MODEL>_ml_package.param.yaml to ml_package_<MODEL>.param.yaml. We will need to change deployment path and launch files for transfusion, centerpoint and pointpainting.
• Bypass this test by file extension thus don't check this config in CI as it is now in centerpoint.

I would go for change naming convention if I didn't miss any drawback. If you have no objection, I will apply this for centerpoint and pointpainting as well.

[kminoda]

@amadeuszsz Thanks for the proposal 🙏
However, I don't think it is a good idea to rename the parameter file name, as they are already widely used both in Autoware and Pilot.Auto / Web.Auto, and changing those file names would take a bit of time.

So I would say it's better to consider a workaround.

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-8205/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-8205/perception/autoware_lidar_transfusion/

[knzo25]

@amadeuszsz
In centerpoint we face similar concerns, and as a workaround (#7421) we are considering calling the vanilla model centerpoint_base, which sounds awful, but is compatible with the schema.
I agree with your name change, but also understand that the change would affect several places, so it would time...

[amadeuszsz]

@amadeuszsz In centerpoint we face similar concerns, and as a workaround (#7421) we are considering calling the vanilla model centerpoint_base, which sounds awful, but is compatible with the schema. I agree with your name change, but also understand that the change would affect several places, so it would time...

I'm not a big fan of this. It will require few copies of same schema files and still affects many places due to file renaming, as you said.

We could restructure design for both packages to:

|-config
|----|-ml_package.param.yaml
|----|-ml_package_tiny.param.yaml
|----|-ml_package_sigma.param.yaml
|----|-centerpoint.param.yaml
|----|-centerpoint_tiny.param.yaml
|----|-centerpoint_sigma.param.yaml
|----|-detection_class_remapper.param.yaml
|
|-schema
|----|-ml_package.schema.json
|----|-centerpoint.schema.json
|----|-detection_class_remapper.schema.json

At the same time we can keep old configs on cloud server to let people pull files if they didn't update repository.

[knzo25]

Update: we decided to skip the problematic schemas in the meantime, so this PR can be merged

[knzo25]

LGTM

[YoshiRi]

LGTM