autowarefoundation
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+# parameter-set-refiner
+
+A tool to remove `autoware_launch` config file dependencies from
+`*.parameter_set.yaml` files by inlining only the parameter values that
+actually differ from each package's own defaults.
+
+## Background
+
+`*.parameter_set.yaml` files in the autoware system designer framework can
+reference config files from `autoware_launch` via `param_files` entries:
+
+```yaml
+- node: /perception/object_recognition/detection/centerpoint/validation
+  param_files:
+    - obstacle_pointcloud_based_validator_param_path: >-
+        $(find-pkg-share autoware_launch)/config/perception/.../obstacle_pointcloud_based_validator.param.yaml
+  param_values: []
+```
+
+This creates a hard dependency on `autoware_launch` at design time. The
+refiner resolves each such reference, compares the `autoware_launch` override
+against the package's own default config, and rewrites the entry so only the
+differing values are kept as inline `param_values`:
+
+```yaml
+- node: /perception/object_recognition/detection/centerpoint/validation
+  param_files: []
+  param_values:
+    - name: using_2d_validator
+      value: true
+```
+
+If the two files are identical, the reference is removed with no `param_values`
+added.
+
+## Usage
+
+```bash
+python3 inline_autoware_launch_params.py <parameter_set.yaml> [OPTIONS]
+```
+
+### Options
+
+| Option                | Description                                                                        |
+| --------------------- | ---------------------------------------------------------------------------------- |
+| `--workspace-src DIR` | Root of the colcon `src/` tree. Auto-detected from the input file path if omitted. |
+| `--dry-run`           | Print what would change without writing the file.                                  |
+| `--output FILE`       | Write the result to `FILE` instead of modifying in place.                          |
+
+### Example
+
+```bash
+python3 inline_autoware_launch_params.py /path/to/autoware/src/launcher/autoware_launch/autoware_sample_designs/design/parameter_set/sample_system_perception.parameter_set.yaml --workspace-src /path/to/autoware/src
+```
+
+## How it works
+
+For each `param_files` entry referencing `$(find-pkg-share autoware_launch)/...`:
+
+1. **Resolve the autoware_launch config** — maps the `$(find-pkg-share ...)` substitution to an actual file path in the workspace.
+
+2. **Find the matching `*.node.yaml`** — searches the workspace for node definitions that declare the same `param_file` key. When multiple candidates exist (e.g. the generic `param_path` key appears in many nodes), the best match is selected using this priority:
+   - Node whose declared default filename matches the autoware_launch config filename (exact match).
+   - Node whose package contains `config/<autoware_launch_config_filename>`.
+   - Node whose package name best matches the directory path of the autoware_launch config (path-segment scoring).
+
+3. **Resolve the package default config** — locates the baseline config file to compare against. Prefers `<pkg>/config/<autoware_launch_config_filename>` (exact filename match) over the filename declared in `node.yaml`, to handle cases where a node.yaml's declared default points to a sibling config for a different mode.
+
+4. **Diff recursively** — compares the autoware_launch config against the package default using a recursive, leaf-level diff. Only the parameters that actually differ are recorded, using dotted-path names (e.g. `association.can_assign.unknown`) so that identical sibling fields are not written.
+
+5. **Rewrite the entry** — appends the differing values to `param_values` (skipping any already set), then removes the `autoware_launch` reference from `param_files`. Non-autoware_launch `param_files` entries are preserved unchanged.
+
+### Output format
+
+- Scalars: `value: true` / `value: 0.5`
+- Arrays: inline flow style `value: [0.098, 0.147, 0.078]`
+- Nested dicts: block mapping under the dotted-path name, e.g.:
+
+  ```yaml
+  - name: association.can_assign.unknown
+    value:
+      [polygon_tracker, multi_vehicle_tracker, pedestrian_and_bicycle_tracker]
+  ```
+
+## Requirements
+
+```text
+ruamel.yaml
+```
+
+Install with:
+
+```bash
+pip install ruamel.yaml
+```