Supports parameter validation in workflows

[isamu-takagi]

Hi, I sometimes have problems with Autoware not starting due to mismatched parameters. This often happens when we change autoware_universe and then forget to update autoware_launch. Since we already introduced parameter definitions using JSON schema, it should be able to detect this automatically. There are already checks in place using CI, but these are limited to the same package and cannot perform cross-package verification.

Therefore, I propose a test package that adds parameter validation by workflows. Package maintainers can easily run parameter tests for their packages by specifying the JSON schema and the parameter file to be inspected, as shown below.

param-checks:
  - schema:
      package: autoware_mission_planner_universe
      file: schema/mission_planner.schema.json
    params:
      package: autoware_launch
      file: config/planning/mission_planning/mission_planner/mission_planner.param.yaml

  - schema:
      package: autoware_pose_initializer
      file: schema/pose_initializer.schema.json
    params:
      package: autoware_launch
      file: config/localization/pose_initializer.param.yaml

For more details, see the sample and implementation here.

• feat(autoware_launch): add parameter checks autoware_launch#1625
• feat: add parameter schema check autoware-guideline-check#5

Below is a sample of the test results. I look forward to your comment.

Test #0 (Failure)
  message: 'arrival_check_distance' is a required property
  details:
    schema: /home/isamutakagi/workspace/awf/autoware/repo/install/autoware_mission_planner_universe/share/autoware_mission_planner_universe/schema/mission_planner.schema.json
    params: /home/isamutakagi/workspace/awf/autoware/repo/install/autoware_launch/share/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml

Test #1 (Success)
  message: OK
  details:
    schema: /home/isamutakagi/workspace/awf/autoware/repo/install/autoware_pose_initializer/share/autoware_pose_initializer/schema/pose_initializer.schema.json
    params: /home/isamutakagi/workspace/awf/autoware/repo/install/autoware_launch/share/autoware_launch/config/localization/pose_initializer.param.yaml

Summary
  all    : 2
  success: 1
  failure: 1
  errors : 0

[isamu-takagi]

In the comments on autowarefoundation/autoware_cmake#34, building for a schema file package is inefficient. There are several ways to solve this.

• Use relative path: If no package is specified, use a relative path. It may not work unless the paths in the repos file and build_depends file are unified.
• Search package path: Find the package.xml file or use the colcon list command to find the package path in the src directory. It needs a way to pass the src path via cmake. Also, the install package structure may differ from the src package structure.
• Export schema file: Export the schema file in advance so that it can be sourced independently. This requires advance preparation and may increase dependency on CI.

[sasakisasaki]

@isamu-takagi Wonderful feature! I want to understand how to create a file like as follows:

param-checks:
  - schema:
      package: autoware_mission_planner_universe
      file: schema/mission_planner.schema.json
    params:
      package: autoware_launch
      file: config/planning/mission_planning/mission_planner/mission_planner.param.yaml

  - schema:
      package: autoware_pose_initializer
      file: schema/pose_initializer.schema.json
    params:
      package: autoware_launch
      file: config/localization/pose_initializer.param.yaml

As you mentioned about the case when a specified (target) package has its dependency, do we need to do, for example, the following steps?

• Find all dependencies which have its schema JSON and its config params
• Add them into param-checks properties

[doganulus]

You can always refer to individual schema files directly from anywhere: https://raw.githubusercontent.com/autowarefoundation/autoware_universe/refs/heads/main/localization/autoware_geo_pose_projector/schema/geo_pose_projector.schema.json

Originally it was envisaged these schema files will have their own dedicated URL, something like https://autoware.org/schema/autoware_core/v0.41/localization/autoware_geo_pose_projector/geo_pose_projector.schema.json

And maybe united into one.

[isamu-takagi]

Thanks for sharing, I'm currently working on integrating this feature with json-schema-check action.

The directory structure of Autoware repository is not a flattened. This means that the tool don't know whether the path of "some-package" is localization/some-package or planning/some-package. So, first I'll scan the repository for the path (ideally we'd be able to look up the above URL from the package name, which would be efficient but complicated).

[doganulus]

The package identifier could be <component>/some-package.

[isamu-takagi]

Hmm... I considered that method, it depends on the repository structure and is not compatible with environments installed with apt. But it certainly makes the tool much simpler. I'll consider which one is better.

[doganulus]

Agreeing on a conventional directory structure across all installation methods would greatly reduce the need for custom tooling. Ideally, it must follow Linux filesystem hierarchy, with a custom install prefix or not.