refactor(perception_ground_segmentation): rework parameters

[karishma1911]

Description

Implement the ROS Node configuration layout described in https://github.com/orgs/autowarefoundation/discussions/3371 for the perception_ground_segmentation

1. Remove the default value from the source code in order to ensure all parameter values are passed from the parameter files.

2.create schema

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[badai-nguyen]

@karishma1911 I have another comment. Since some parameters use default values which only declared in scan_ground_filter_nodelet.cpp so common_ground_filter cannot started with your PR. One of the errors as below. Could you also add such missing parameters into ground_segmentation.param.yaml file also?

Failed to load node 'common_ground_filter' of type 'ground_segmentation::ScanGroundFilterComponent' in container 'pointcloud_container': Component constructor threw an exception: Statically typed parameter 'radial_divider_angle_deg' must be initialized.

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[kminoda]

@karishma1911 Hi, thank you for your contribution! What is the status of this PR? If this is stale, can we make this PR draft for now? (Of course feel free to re-open if it's ready for review)

[idorobotics]

@karishma1911 could you please provide updates?

[kminoda]

@karishma1911 Please fix the PR or recreate as another one :pray:

[kminoda]

@karishma1911 Let me convert this PR as a draft as it may be noisy for other developers. But feel free to reopen this PR once it is fixed. Thank you for your contribution!