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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:

- 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:

- 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

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

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.:

    - name: association.can_assign.unknown
  value:
    [polygon_tracker, multi_vehicle_tracker, pedestrian_and_bicycle_tracker]

Requirements

ruamel.yaml

Install with:

pip install ruamel.yaml