DevOps Dojo: ROS Node Configuration (Phase 4)

[kaspermeck-arm]

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

DevOps: Ros Node Configuration will address the topic of how ROS nodes are configured. Guidelines, documentation and changes to configuration files will be made, based on best-practices from cloud-native and software defined development methodologies.

Phase 1 - Motivation

• DevOps Dojo: ROS Node Configuration (Phase 1) #2631

Phase 2 - Definition

• DevOps Dojo: ROS Node Configuration (Phase 2) #2636

Phase 3 - Execution

• DevOps Dojo: ROS Node Configuration (Phase 3) #2651

Phase 4 - Integration

• DevOps Dojo: ROS Node Configuration (Phase 4) #2652

Purpose

Phase 4 - Integration:

• scale out solution into system
• system wide test and verification
• education and documentation

Possible approaches

All ROS packages which need to be adapted to the new ROS node configuration can be found in the Google Spreadsheet:

• Autoware.Universe/Core ROS Packages
  • See tab ROS Node Config

Find the documentation on how to achieve this on the Autoware web documentation:

• Parameters
  • Which will be updated with new guidelines from ROS Node Parameter Coding Guidelines
    • Which is based on the Final3 Proposal

See example PR:

• refactor(lidar_apollo_segmentation_tvm): rework parameters #3390

Definition of done

Once the changes have been made to all relevant nodes, i.e., not marked N/A.