revise design format

autoware_system_design_examples/design/node/ControlDummy.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: ControlDummy.node
 
@@ -29,8 +29,8 @@ outputs:
   - name: command/turn_indicators_cmd
     message_type: autoware_vehicle_msgs/msg/TurnIndicatorsCommand
 
-parameter_files: []
-parameters: []
+param_files: []
+param_values: []
 
 # processes
 processes:

autoware_system_design_examples/design/node/LocalizationDummy.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: LocalizationDummy.node
 
@@ -49,9 +49,9 @@ outputs:
   - name: pose_estimator/pose_with_covariance
     message_type: geometry_msgs/msg/PoseWithCovarianceStamped
 
-parameter_files: []
+param_files: []
 
-parameters: []
+param_values: []
 
 # processes
 processes:

autoware_system_design_examples/design/node/MapDummy.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: MapDummy.node
 
@@ -28,9 +28,9 @@ outputs:
   - name: get_partial_pointcloud_map
     message_type: autoware_map_msgs/srv/GetPartialPointCloudMap
 
-parameter_files: []
+param_files: []
 
-parameters: []
+param_values: []
 
 # processes
 processes:

autoware_system_design_examples/design/node/PlanningDummy.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: PlanningDummy.node
 
@@ -26,8 +26,8 @@ outputs:
   - name: mission_planning/route
     message_type: autoware_planning_msgs/msg/LaneletRoute
 
-parameter_files: []
-parameters: []
+param_files: []
+param_values: []
 
 # processes
 processes:

autoware_system_design_examples/design/node/perception/DetectorA.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: DetectorA.node
 
@@ -25,7 +25,7 @@ outputs:
       reliability: reliable
       durability: transient_local
 
-parameter_files:
+param_files:
   - name: model_param_path
     default: path/to/model_param.yaml
     schema: path/to/model_param.schema.json
@@ -37,7 +37,7 @@ parameter_files:
   - name: class_remapper_param_path
     default: path/to/class_remapper_param.yaml
 
-parameters:
+param_values:
   - name: build_only
     type: bool
     default: false

autoware_system_design_examples/design/node/perception/FilterA.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: FilterA.node
 
@@ -28,11 +28,11 @@ outputs:
       reliability: reliable
       durability: transient_local
 
-parameter_files:
+param_files:
   - name: filtering_range_param
     default: path/to/filtering_range_param.yaml
 
-parameters: []
+param_values: []
 
 # processes
 processes:

autoware_system_design_examples/design/node/perception/Predictor.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: Predictor.node
 
@@ -24,9 +24,9 @@ outputs:
       reliability: reliable
       durability: transient_local
 
-parameter_files: []
+param_files: []
 
-parameters: []
+param_values: []
 
 # processes
 processes:

autoware_system_design_examples/design/node/perception/Tracker.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: Tracker.node
 
@@ -18,23 +18,22 @@ inputs:
     message_type: autoware_perception_msgs/msg/DetectedObjects
   - name: objects3
     message_type: autoware_perception_msgs/msg/DetectedObjects
-    required: false
 outputs:
   - name: objects
     message_type: autoware_perception_msgs/msg/TrackedObjects
     qos:
       reliability: reliable
       durability: transient_local
 
-parameter_files:
+param_files:
   - name: tracker_setting_path
     default: path/to/tracker_setting_path.yaml
   - name: data_association_matrix_path
     default: path/to/data_association_matrix_path.yaml
   - name: input_channels_path
     default: path/to/input_channels_path.yaml
 
-parameters: []
+param_values: []
 
 # processes
 processes:

autoware_system_design_examples/design/node/perception/TrafficLightRecognitionDummy.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: TrafficLightRecognitionDummy.node
 
@@ -29,8 +29,8 @@ outputs:
       reliability: reliable
       durability: transient_local
 
-parameter_files: []
-parameters: []
+param_files: []
+param_values: []
 
 # processes
 processes:

autoware_system_design_examples/design/node/sensing/CameraDummyDriver.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: CameraDummyDriver.node
 
@@ -22,9 +22,9 @@ outputs:
   - name: camera_info
     message_type: sensor_msgs/msg/CameraInfo
 
-parameter_files: []
+param_files: []
 
-parameters:
+param_values:
   - name: composable_node
     type: bool
     default: false

autoware_system_design_examples/design/node/sensing/ConcatenatePointcloudDummy.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: ConcatenatePointcloudDummy.node
 
@@ -35,11 +35,11 @@ outputs:
   - name: output
     message_type: sensor_msgs/msg/PointCloud2
 
-parameter_files:
+param_files:
   - name: param_file
     default: config/concatenate_pointclouds.param.yaml
 
-parameters:
+param_values:
   - name: input_frame
     type: string
     default: base_link

autoware_system_design_examples/design/node/sensing/DetectedObjectMergerDummy6.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: DetectedObjectMergerDummy6.node
 
@@ -35,9 +35,9 @@ outputs:
       reliability: reliable
       durability: transient_local
 
-parameter_files: []
+param_files: []
 
-parameters:
+param_values:
   - name: input_topics
     type: array
     default: "[${input object1}, ${input object2}, ${input object3}, ${input object4}, ${input object5}, ${input object6}]"

autoware_system_design_examples/design/node/sensing/LidarDummyDriver.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: LidarDummyDriver.node
 
@@ -19,9 +19,9 @@ outputs:
       reliability: best_effort
       durability: volatile
 
-parameter_files: []
+param_files: []
 
-parameters:
+param_values:
   - name: composable_node
     type: bool
     default: false

autoware_system_design_examples/design/node/sensing/RadarDummyDriver.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: RadarDummyDriver.node
 
@@ -18,9 +18,9 @@ outputs:
   - name: detected_objects
     message_type: autoware_perception_msgs/msg/DetectedObjects
 
-parameter_files: []
+param_files: []
 
-parameters:
+param_values:
   - name: composable_node
     type: bool
     default: false

autoware_system_design_examples/design/node/sensing/TrackedObjectMergerDummy6.node.yaml

@@ -1,4 +1,4 @@
-autoware_system_design_format: 0.2.0
+autoware_system_design_format: 0.3.0
 
 name: TrackedObjectMergerDummy6.node
 
@@ -35,9 +35,9 @@ outputs:
       reliability: reliable
       durability: transient_local
 
-parameter_files: []
+param_files: []
 
-parameters:
+param_values:
   - name: input_topics
     type: array
     default: "[${input object1}, ${input object2}, ${input object3}, ${input object4}, ${input object5}, ${input object6}]"

autoware_system_design_examples/design/parameter_set/PerceptionModuleA.parameter_set.yaml

@@ -1,36 +1,36 @@
-autoware_system_design_format: 0.1.0
+autoware_system_design_format: 0.3.0
 
 name: PerceptionModuleA.parameter_set
 parameters:
   - node: /perception/object_recognition/detector_a1/node_detector
-    parameter_files:
+    param_files:
       - model_param_path: perception/object_recognition/detector_a1/node_detector/model_param_path.param.yaml
       - ml_package_param_path: perception/object_recognition/detector_a1/node_detector/ml_package_param_path.param.yaml
       - class_remapper_param_path: perception/object_recognition/detector_a1/node_detector/class_remapper_param_path.param.yaml
-    parameters:
+    param_values:
       - name: build_only
         type: bool
         value: false
   - node: /perception/object_recognition/detector_a1/node_filter
-    parameter_files:
+    param_files:
       - filtering_range_param: perception/object_recognition/detector_a1/node_filter/filtering_range_param.param.yaml
-    parameters: []
+    param_values: []
   - node: /perception/object_recognition/detector_a2/node_detector
-    parameter_files:
+    param_files:
       - model_param_path: perception/object_recognition/detector_a2/node_detector/model_param_path.param.yaml
       - ml_package_param_path: perception/object_recognition/detector_a2/node_detector/ml_package_param_path.param.yaml
       - class_remapper_param_path: perception/object_recognition/detector_a2/node_detector/class_remapper_param_path.param.yaml
-    parameters:
+    param_values:
       - name: build_only
         type: bool
         value: false
   - node: /perception/object_recognition/detector_a2/node_filter
-    parameter_files:
+    param_files:
       - filtering_range_param: perception/object_recognition/detector_a2/node_filter/filtering_range_param.param.yaml
-    parameters: []
+    param_values: []
   - node: /perception/object_recognition/node_tracker
-    parameter_files:
+    param_files:
       - tracker_setting_path: perception/object_recognition/node_tracker/tracker_setting_path.param.yaml
       - data_association_matrix_path: perception/object_recognition/node_tracker/data_association_matrix_path.param.yaml
       - input_channels_path: perception/object_recognition/node_tracker/input_channels_path.param.yaml
-    parameters: []
+    param_values: []

autoware_system_design_examples/design/parameter_set/PerceptionModuleABuild.parameter_set.yaml

@@ -1,9 +1,9 @@
-autoware_system_design_format: 0.1.0
+autoware_system_design_format: 0.3.0
 
 name: PerceptionModuleABuild.parameter_set
 parameters:
   - node: /perception/object_recognition/detector_a1/node_detector
-    parameters:
+    param_values:
       - name: build_only
         type: bool
         value: true

autoware_system_designer/autoware_system_designer/builder/instances/instance_serializer.py

@@ -130,24 +130,24 @@ def collect_launcher_data(instance: "Instance") -> Dict[str, Any]:
         )
     launcher_data["ports"] = ports
 
-    # Parameters and parameter files for launch
-    parameters = []
+    # param_values and param_files for launch
+    param_values = []
     for param in instance.parameter_manager.get_parameters_for_launch():
         param_copy = dict(param)
         param_copy["parameter_type"] = serialize_parameter_type(
             param.get("parameter_type")
         )
-        parameters.append(param_copy)
-    launcher_data["parameters"] = parameters
+        param_values.append(param_copy)
+    launcher_data["param_values"] = param_values
 
-    parameter_files = []
+    param_files = []
     for param_file in instance.parameter_manager.get_parameter_files_for_launch():
         param_file_copy = dict(param_file)
         param_file_copy["parameter_type"] = serialize_parameter_type(
             param_file.get("parameter_type")
         )
-        parameter_files.append(param_file_copy)
-    launcher_data["parameter_files"] = parameter_files
+        param_files.append(param_file_copy)
+    launcher_data["param_files"] = param_files
 
     return launcher_data
 
@@ -199,7 +199,7 @@ def collect_instance_data(instance: "Instance") -> InstanceData:
     if instance.entity_type == "node":
         launch_config = instance.configuration.launch or {}
         data["package"] = instance.configuration.package_name or ""
-        data["parameter_files_all"] = [
+        data["param_files_all"] = [
             {
                 "name": pf.name,
                 "path": pf.path,