feat(aip_launcher): ring outlier filter node load from param file

[vividf]

PR autowarefoundation/autoware.universe#8468 removes the default parameter, thus aip_launcher needs to load the ring outlier parameter (also distortion corrector parameter) from the parameter file.

[badai-nguyen]

LGTM.
nits: It's better to separate this PRs into PRs for ech filter parameter update.

[vividf]

@badai-nguyen Thanks, I removed distortion corrector related code from this PR.

[vividf]

@badai-nguyen The distortion corrector part is separated into this PR #317.

[vividf]

@YoshiRi @badai-nguyen kindly ping

[YoshiRi]

LGTM

[SakodaShintaro]

@vividf @YoshiRi
Why did this PR only change aip_x2_launch and not api_xx1_launch etc?
How was this PR tested?

An error occurred when launch the pilot-auto vanilla with odaiba-AWSIM.

ros2 launch autoware_launch e2e_simulator.launch.xml \
    map_path:=$HOME/autoware_map/odaiba_beta/ \
    vehicle_model:=taxi \
    sensor_model:=aip_xx1 \
    use_foa:=false \
    vehicle_id:=awsim_jpt \
    traffic_light_namespace:=[camera6]

1727927388.9376574 [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'ring_outlier_filter' of type 'autoware::pointcloud_preprocessor::RingOutlierFilterComponent' in container '/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container': Component constructor threw an exception: Statically typed parameter 'distance_ratio' must be initialized.

[vividf]

@SakodaShintaro Sorry about this, in aip_xx1_launch there is no pandar_node_container.launch.py and I didn't consider that I need to update for simulator one. Could you tell me which launch file (that runs the distortion corrector node and ring outlier node) that odaiba-AWSIM used?

[SakodaShintaro]

@vividf
I am not familiar with the sensing launch system.
But I think the following launches are called.

• sensing.launch.xml
  • lidar.launch.xml
    • velodyne_VLP16.launch.xml
    • velodyne_VLS128.launch.xml
      • nebula_node_container.launch.py

nebula_node_container.launch.py ​​appears to have been modified appropriately.

I will continue to investigate.

[SakodaShintaro]

@vividf
ring_outlier_filter_node_param_file is declared but not used in https://github.com/vividf/aip_launcher/blob/4724f816377dbca97ede40e3968970e561f8b1d7/common_sensor_launch/launch/nebula_node_container.launch.py?

In awsim_sensor_kit, ring_outlier_filter_node_param_path is used as https://github.com/RobotecAI/awsim_sensor_kit_launch/blob/main/common_awsim_sensor_launch/launch/nebula_node_container.launch.py#L212-L236

[vividf]

@SakodaShintaro I see, thanks for the info I will create PR for the awsim as the common_sensor_launch one should work.
If you need a quick fix, I think this PR can help autowarefoundation/awsim_labs_sensor_kit_launch#6

[SakodaShintaro]

@vividf
Thank you for checking, I've created a pull request.
#324