chore(perception): refactor perception launch

[MasatoSaeki]

Description

Overall

Refactoring the launcher around TLR pipeline.

1. change variable name in launcher considering namespace
2. integrate variable name(model_path, model_name and label_name to model_path and label_path) in ml packages for easy to understand on upper layer. There is limit to decompose variable caused by representation abillity of variable. (variable will be duplicated.)
3. modify variable name in some traffic_light packages because the parameter of package is not unnecessary own name
4. move model_path and label_path from param file to launch file, because need to decide uniquely if there are variable like $(var hoge) in param file. It is not scalable and continuous.
5. add parameter file in autoware_launch.
6. delete intermediate definition parameter.

For tier4_perception_launch owner

1., 2., 4., and 6. is relevant.

For tier4_simulator_launch owner

6. is relevant so add args to launch simulator.

For *traffic_light* owner

2., 3., and 4. is relevant.

For autoware_tensorrt_yolox owner

2. and 4. is relevant.

For around autoware_launch owner

1., 2., 4., and 5. is relevant.

Related links

autowarefoundation/autoware_launch#1336

How was this PR tested?

Overall

I checked this PR on Evaluator. (https://evaluation.ci.tier4.jp/evaluation/reports/d21cf15a-0d5d-5056-beec-0d99e3e8fd09?project_id=prd_jt)

tier4_simulator_launch

I checked this PR works with Passed on console under below command.

ros2 launch scenario_test_runner scenario_test_runner.launch.py   architecture_type:=awf/universe/20240605   record:=false   scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml'   sensor_model:=sample_sensor_kit   vehicle_model:=sample_vehicle

Screencast.from.03-01-2025.06.53.54.PM.webm

*traffic_light*

You can see above Evaluator link.

autoware_tensorrt_yolox

I checked this PR works under below command.

ros2 launch autoware_tensorrt_yolox yolox.launch.xml

ros2 launch autoware_tensorrt_yolox yolox_s_plus_opt.launch.xml

 ros2 launch autoware_tensorrt_yolox yolox_tiny.launch.xml

ros2 launch autoware_tensorrt_yolox multiple_yolox.launch.xml

Notes for reviewers

None.

Interface changes

None, but move the parameter definition place from param file to launch file.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 16 lines in your changes missing coverage. Please review.

Project coverage is 26.43%. Comparing base (5be1ee3) to head (fa35e9e).

Files with missing lines	Patch %	Lines
...light_classifier/src/classifier/cnn_classifier.cpp	0.00%	6 Missing ⚠️
..._detector/src/traffic_light_fine_detector_node.cpp	0.00%	5 Missing ⚠️
...lization/src/traffic_light_roi_visualizer/node.cpp	0.00%	4 Missing ⚠️
...t_classifier/src/traffic_light_classifier_node.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10186      +/-   ##
==========================================
+ Coverage   26.24%   26.43%   +0.19%     
==========================================
  Files        1378     1389      +11     
  Lines      107415   107567     +152     
  Branches    41411    41417       +6     
==========================================
+ Hits        28189    28434     +245     
+ Misses      76412    76302     -110     
- Partials     2814     2831      +17     

Flag	Coverage Δ		*Carryforward flag
differential	3.44% <0.00%> (?)
differential-cuda	1.62% <0.00%> (?)
total	26.44% <ø> (+0.19%)	⬆️	Carriedforward from 815c5ce

*This pull request uses carry forward flags. Click here to find out more.

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-10186/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-10186/perception/autoware_tensorrt_yolox/

[technolojin]

LGTM

[Shin-kyoto]

LGTM

• I confirmed that this PR is good enough to merge.
• I did NOT check this PR by running autoware.

[ktro2828]

LGTM for autoware_tensorrt_yolox.

[knzo25]

LGTM

[tzhong518]

LGTM