feat: implement autoware system designer

.github/workflows/lint-autoware-system-design-format.yml

@@ -0,0 +1,30 @@
+name: Lint Autoware System Design Format
+
+on:
+  pull_request:
+    paths:
+      - "**/*.node.yaml"
+      - "**/*.module.yaml"
+      - "**/*.system.yaml"
+      - "**/*.parameter_set.yaml"
+  push:
+    branches:
+      - main
+    paths:
+      - "**/*.node.yaml"
+      - "**/*.module.yaml"
+      - "**/*.system.yaml"
+      - "**/*.parameter_set.yaml"
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Lint system design format files
+        uses: autowarefoundation/autoware_system_designer@v0.3.0
+        with:
+          design_files_path: .

.pre-commit-config.yaml

@@ -94,4 +94,10 @@ repos:
         args: [--quiet, '--filter=-runtime/arrays,-build/c++17,-readability/casting']
         exclude: .cu
 
+  - repo: https://github.com/autowarefoundation/autoware_system_designer
+    rev: v0.3.0
+    hooks:
+      - id: lint-system-design-format
+        args: [--format=github-actions]
+
 exclude: .svg

src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml

@@ -0,0 +1,89 @@
+autoware_system_design_format: 0.3.0
+
+name: NebulaArs548.node
+
+package:
+  name: nebula_continental
+  provider: nebula
+
+launch:
+  plugin: nebula::ros::ContinentalARS548RosWrapper
+  executable: continental_ars548_ros_wrapper_node
+  node_output: screen
+
+# interfaces
+subscribers:
+  - name: odometry_input
+    message_type: geometry_msgs/msg/TwistWithCovarianceStamped
+    remap_target: odometry_input
+  - name: acceleration_input
+    message_type: geometry_msgs/msg/AccelWithCovarianceStamped
+    remap_target: acceleration_input
+  - name: steering_angle_input
+    message_type: std_msgs/msg/Float32
+    remap_target: steering_angle_input
+publishers:
+  - name: nebula_packets
+    message_type: nebula_msgs/msg/NebulaPackets
+    remap_target: nebula_packets
+  - name: continental_detections
+    message_type: continental_msgs/msg/ContinentalArs548DetectionList
+    remap_target: continental_detections
+  - name: continental_objects
+    message_type: continental_msgs/msg/ContinentalArs548ObjectList
+    remap_target: continental_objects
+  - name: detection_points
+    message_type: sensor_msgs/msg/PointCloud2
+    remap_target: detection_points
+  - name: object_points
+    message_type: sensor_msgs/msg/PointCloud2
+    remap_target: object_points
+  - name: scan_raw
+    message_type: radar_msgs/msg/RadarScan
+    remap_target: scan_raw
+  - name: objects_raw
+    message_type: radar_msgs/msg/RadarTracks
+    remap_target: objects_raw
+  - name: marker_array
+    message_type: visualization_msgs/msg/MarkerArray
+    remap_target: marker_array
+  - name: radar_objects
+    message_type: autoware_sensing_msgs/msg/RadarObjects
+    remap_target: radar_objects
+  - name: radar_info
+    message_type: autoware_sensing_msgs/msg/RadarInfo
+    remap_target: radar_info
+
+# parameters
+param_files:
+  - name: config_file
+    default: config/ARS548.param.yaml
+    schema: schema/ARS548.schema.json
+    allow_substs: true
+
+param_values:
+  - name: launch_hw
+    type: bool
+    default: true
+
+# processes
+processes:
+  - name: hw_interface
+    trigger_conditions:
+      - periodic: 100 # Hz
+    outcomes:
+      - to_output: nebula_packets
+  - name: decoder
+    trigger_conditions:
+      - periodic: 10 # Hz
+    outcomes:
+      - to_output: continental_objects
+      - to_output: continental_detections
+      - to_output: detection_points
+      - to_output: object_points
+      - to_output: radar_objects
+      - to_output: scan_raw
+      - to_output: objects_raw
+      - to_output: marker_array
+      - to_output: diagnostics
+      - to_output: radar_info

src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml

@@ -0,0 +1,40 @@
+autoware_system_design_format: 0.3.0
+
+name: NebulaArs548_decode.node
+
+base: NebulaArs548.node
+
+override:
+  subscribers:
+    - name: nebula_packets
+      message_type: nebula_msgs/msg/NebulaPackets
+      remap_target: nebula_packets
+  processes:
+    - name: decoder
+      trigger_conditions:
+        - from_input: nebula_packets
+      outcomes:
+        - to_output: continental_objects
+        - to_output: continental_detections
+        - to_output: detection_points
+        - to_output: object_points
+        - to_output: radar_objects
+        - to_output: scan_raw
+        - to_output: objects_raw
+        - to_output: marker_array
+        - to_output: diagnostics
+        - to_output: radar_info
+  param_values:
+    - name: launch_hw
+      type: bool
+      default: false
+
+remove:
+  subscribers:
+    - name: odometry_input
+    - name: acceleration_input
+    - name: steering_angle_input
+  publishers:
+    - name: nebula_packets
+  processes:
+    - name: hw_interface

src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml

@@ -0,0 +1,74 @@
+autoware_system_design_format: 0.3.0
+
+name: NebulaHesaiPandar128E4X.node
+
+package:
+  name: nebula_hesai
+  provider: nebula
+
+launch:
+  plugin: HesaiRosWrapper
+  executable: hesai_ros_wrapper_node
+  node_output: screen
+
+# interfaces
+subscribers: []
+
+publishers:
+  - name: pandar_packets
+    message_type: pandar_msgs/msg/PandarScan
+    remap_target: pandar_packets
+    qos:
+      depth: 10
+      reliability: best_effort
+  - name: pandar_points
+    message_type: sensor_msgs/msg/PointCloud2
+    remap_target: pandar_points
+    qos:
+      depth: 10
+      reliability: best_effort
+  - name: aw_points
+    message_type: sensor_msgs/msg/PointCloud2
+    remap_target: aw_points
+    qos:
+      depth: 10
+      reliability: best_effort
+  - name: aw_points_ex
+    message_type: sensor_msgs/msg/PointCloud2
+    remap_target: aw_points_ex
+    qos:
+      depth: 10
+      reliability: best_effort
+  - name: blockage_mask
+    message_type: sensor_msgs/msg/Image
+    remap_target: blockage_mask
+
+# parameters
+param_files:
+  - name: config_file
+    default: config/Pandar128E4X.param.yaml
+    schema: schema/Pandar128E4X.schema.json
+    allow_substs: true
+
+param_values:
+  - name: launch_hw
+    type: boolean
+    default: true
+  - name: point_filters.downsample_mask.path
+    type: string
+    default: ""
+
+# processes
+processes:
+  - name: hw_interface
+    trigger_conditions:
+      - periodic: 10.0 # Hz
+    outcomes:
+      - to_output: pandar_packets
+  - name: decoder
+    trigger_conditions:
+      - and:
+          - on_trigger: hw_interface
+          - periodic: 10 # Hz
+    outcomes:
+      - to_output: pandar_points

src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml

@@ -0,0 +1,27 @@
+autoware_system_design_format: 0.3.0
+
+name: NebulaHesaiPandar128E4X_decode.node
+
+base: NebulaHesaiPandar128E4X.node
+
+override:
+  subscribers:
+    - name: pandar_packets
+      message_type: pandar_msgs/msg/PandarScan
+      remap_target: pandar_packets
+  processes:
+    - name: decoder
+      trigger_conditions:
+        - from_input: pandar_packets
+      outcomes:
+        - to_output: pandar_points
+  param_values:
+    - name: launch_hw
+      type: bool
+      default: false
+
+remove:
+  publishers:
+    - name: pandar_packets
+  processes:
+    - name: hw_interface

src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml

@@ -0,0 +1,66 @@
+autoware_system_design_format: 0.3.0
+
+name: NebulaVelodyneVLP16.node
+
+package:
+  name: nebula_velodyne
+  provider: nebula
+
+launch:
+  plugin: VelodyneRosWrapper
+  executable: velodyne_ros_wrapper_node
+  node_output: screen
+
+# interfaces
+subscribers: []
+
+publishers:
+  - name: velodyne_packets
+    message_type: velodyne_msgs/msg/VelodyneScan
+    remap_target: velodyne_packets
+    qos:
+      depth: 10
+      reliability: best_effort
+  - name: velodyne_points
+    message_type: sensor_msgs/msg/PointCloud2
+    remap_target: velodyne_points
+    qos:
+      depth: 10
+      reliability: best_effort
+  - name: aw_points
+    message_type: sensor_msgs/msg/PointCloud2
+    remap_target: aw_points
+    qos:
+      depth: 10
+      reliability: best_effort
+  - name: aw_points_ex
+    message_type: sensor_msgs/msg/PointCloud2
+    remap_target: aw_points_ex
+    qos:
+      depth: 10
+      reliability: best_effort
+
+# parameters
+param_files:
+  - name: config_file
+    default: config/VLP16.param.yaml
+    schema: schema/VLP16.schema.json
+    allow_substs: true
+
+param_values:
+  - name: launch_hw
+    type: bool
+    default: true
+
+# processes
+processes:
+  - name: hw_interface
+    trigger_conditions:
+      - periodic: 100 # Hz
+    outcomes:
+      - to_output: velodyne_packets
+  - name: decoder
+    trigger_conditions:
+      - periodic: 10 # Hz
+    outcomes:
+      - to_output: velodyne_points

src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml

@@ -0,0 +1,27 @@
+autoware_system_design_format: 0.3.0
+
+name: NebulaVelodyneVLP16_decode.node
+
+base: NebulaVelodyneVLP16.node
+
+override:
+  subscribers:
+    - name: velodyne_packets
+      message_type: velodyne_msgs/msg/VelodyneScan
+      remap_target: velodyne_packets
+  processes:
+    - name: decoder
+      trigger_conditions:
+        - from_input: velodyne_packets
+      outcomes:
+        - to_output: velodyne_points
+  param_values:
+    - name: launch_hw
+      type: bool
+      default: false
+
+remove:
+  publishers:
+    - name: velodyne_packets
+  processes:
+    - name: hw_interface