Update codebase to conform to a priori guideline for topic remapping
Description
Based on the discussion in #236 (closed) and the associated discussion in https://answers.ros.org/question/342777/is-it-correct-to-set-topic-names-from-parameters/, the general consensus for using parameters to apply topic names vs topic name remapping is that "remapping should be used unless a feature isn't available that parameters provide." Many of the nodes (see https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/blob/master/src/localization/ndt_nodes/src/map_publisher.cpp#L72 and https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/blob/master/src/tools/joystick_vehicle_interface/src/joystick_vehicle_interface_node.cpp#L29 as examples) do not follow this convention and should be updated.
Expected behavior
All nodes in the Autoware.Auto stack should comply with this guideline.
Definition of Done
-
src/tools/joystick_vehicle_interface/src/joystick_vehicle_interface_node.cpp !347 (closed)!433 (merged) -
src/perception/filters/voxel_grid_nodes/src/voxel_cloud_node.cpp !367 (merged) -
src/perception/filters/ray_ground_classifier_nodes/src/ray_ground_classifier_cloud_node.cpp !372 (merged) -
src/perception/segmentation/euclidean_cluster_nodes/src/euclidean_cluster_node.cpp !373 (merged) -
src/drivers/serial_driver/include/serial_driver/serial_driver_node.hpp( deleted package ) -
src/localization/ndt_nodes/src/map_publisher.cpp !374 (merged) -
src/drivers/vehicle_interface/src/vehicle_interface_node.cpp !403 (merged) -
src/drivers/lgsvl_interface/src/lgsvl_interface_node.cpp !433 (merged) -
src/localization/localization_nodes/include/localization_nodes/localization_node.hpp !438 (merged) -
src/perception/filters/point_cloud_fusion/src/point_cloud_fusion.cpp !439 (merged) -
src/perception/filters/point_cloud_filter_transform_nodes/include/point_cloud_filter_transform_nodes/point_cloud_filter_transform_node.hpp !440 (merged) -
src/external/mpc/control/controller_common_nodes/src/controller_common_nodes/controller_node_base.cpp(mpc
repository. Merge requests have been made, but they won't be taken in right away due to conflicts with other projects. aninnymouse/mpc#67 , aninnymouse/mpc!60 ) -
Nodes that are part of the( aninnymouse/mpc#67 , aninnymouse/mpc!60 )mpc
repository (https://gitlab.com/aninnymouse/mpc.git) -
src/tools/test_trajectory_following/param/mpc_controller.param.yaml(mpc
repository. Merge requests have been made, but they won't be taken in right away due to conflicts with other projects. aninnymouse/mpc#67 , aninnymouse/mpc!60 ) -
src/drivers/velodyne_node/param/vlp16_test.param.yaml !460 (merged) -
src/drivers/xsens_node/param/xsens_test.param.yaml !474 (merged) -
src/motion/control/pure_pursuit_nodes/param/pure_pursuit_test.param.yaml !475 (merged) -
src/motion/control/pure_pursuit_nodes/param/pure_pursuit.param.yaml !475 (merged) -
Add the guideline to the Autoware.Auto developer documentation.
If anyone finds additional examples, feel free to add them above.