Add sync-params workflow

[paulsohn]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Automate autoware_universe (and possible other sources) -> autoware_launch param updating PRs.

Purpose

Currently every time autoware_universe param files has changed, the integration side (autoware_launch) needs to update the fields by manual PRs and drifts are not tracked. Similar to sync-files, automate the syncing process so that the autoware_universe param updates can be detected and auto-updated, while allowing certain fields in autoware_launch param files can be overridden over the base file.

Possible approaches

I already opened a PR and demonstrated that sync-params can track and update the param files to the latest, while allowing override with # {OVERRIDE} or # {OVERRIDE: reason} markers.

autowarefoundation/autoware_launch#1812
(auto-PR result in personal fork: paulsohn/autoware_launch#14 )

One approach for registering sync-params to other categories (localization, planning, control, ...) involves these step: say you want to register localization param files:

1. Register upstream - downstream pairs into localization key of sync-params.yaml.
2. Initially run python3 .github/scripts/sync_params.py localization once
3. Some downstream values might be overwritten from the upstream. Using git diff view of your IDE and identify such overwritten lines, revert it, and add # {OVERRIDE} comment for each of them
4. Run python3 .github/scripts/sync_params.py localization again, confirm that # {OVERRIDE} marked lines are no longer updated
5. Check locally with python3 .github/scripts/sync_params.py localization --check

Definition of done

• sync-params workflow that syncs (ci: add sync-params workflow  autoware_launch#1812)
• check-params workflow (ci: add sync-params workflow  autoware_launch#1812)
• demonstration param file linkage for Perception subset (ci: add sync-params workflow  autoware_launch#1812)
• link files in each categories
  • Perception (remaining files)
  • Localization
  • Map
  • Planning
  • Control
  • System
  • Vehicle
  • Simulator
• Register check-params as required CI check for autoware_launch repository PRs
• autoware_universe contributors are properly guided to use sync-params workflow instead of creating param updating PRs manually

Note: making sync-params callable workflow is currently in a low priority as this is only used by autoware_launch, but I am open to the idea.