ci: add sync-params workflow

.github/sync-params.yaml

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+perception:
+  - repository: autowarefoundation/autoware_universe
+    ref: main
+    files:
+      # Perception
+      - # Source param path in source repository.
+        source: perception/autoware_image_object_locator/config/bbox_object_locator.param.yaml
+        # List of param paths in current repository that are variants of the source param path.
+        # Variant files should have the same yaml file layout as the source file and only differ in the parameters.
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml
+      - source: perception/autoware_euclidean_cluster/config/euclidean_cluster.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml
+      - source: perception/autoware_detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml
+      - source: perception/autoware_detected_object_validation/config/occupancy_grid_based_validator.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml
+      - source: perception/autoware_detection_by_tracker/config/detection_by_tracker.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml
+      - source: perception/autoware_image_projection_based_fusion/config/fusion_common.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml
+      - source: perception/autoware_image_projection_based_fusion/config/pointpainting_common.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml
+      - source: perception/autoware_image_projection_based_fusion/config/roi_cluster_fusion.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml
+      - source: perception/autoware_image_projection_based_fusion/config/roi_detected_object_fusion.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml
+      - source: perception/autoware_image_projection_based_fusion/config/roi_pointcloud_fusion.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml
+      #
+      # irregular_object_detector.param.yaml omitted;
+      # It is actually a mix of 3 different param files. Needs refactoring to track via this workflow.
+      #
+      - source: perception/autoware_bevfusion/config/bevfusion_camera_lidar.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/lidar_model/bevfusion_camera_lidar.param.yaml
+      - source: perception/autoware_bevfusion/config/common_bevfusion.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/lidar_model/bevfusion_common.param.yaml
+      - source: perception/autoware_bevfusion/config/bevfusion_lidar.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/lidar_model/bevfusion_lidar.param.yaml
+      - source: perception/autoware_lidar_centerpoint/config/centerpoint_common.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_common.param.yaml
+      - source: perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml
+      - source: perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
+      - source: perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
+      - source: perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
+      - source: perception/autoware_lidar_transfusion/config/transfusion_common.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion_common.param.yaml
+      - source: perception/autoware_lidar_transfusion/config/transfusion.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml
+      - source: perception/autoware_detected_object_validation/config/object_lanelet_filter.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
+          - path: autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
+      - source: perception/autoware_detected_object_validation/config/object_position_filter.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml
+      - source: perception/autoware_object_merger/config/data_association_matrix.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml
+      - source: perception/autoware_object_merger/config/object_association_merger.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml
+      - source: perception/autoware_object_merger/config/overlapped_judge.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml
+      #
+      # pointcloud_map_filter.param.yaml omitted. The 'param file' is completely interpreted by launcher.
+      #
+      - source: perception/autoware_object_sorter/config/detected_object_sorter.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml
+      - source: perception/autoware_map_based_prediction/config/map_based_prediction.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
+      - source: perception/autoware_multi_object_tracker/config/data_association_matrix.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
+      - source: perception/autoware_multi_object_tracker/config/input_channels.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml
+      - source: perception/autoware_multi_object_tracker/config/multi_object_tracker_node.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
+      - source: perception/autoware_detected_object_validation/config/tracked_object_lanelet_filter.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracked_object_lanelet_filter.param.yaml
+      - source: perception/autoware_object_sorter/config/tracked_object_sorter.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracked_object_sorter.param.yaml
+      - source: perception/autoware_tracking_object_merger/config/data_association_matrix.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml
+      - source: perception/autoware_tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger_policy.param.yaml
+      - source: perception/autoware_tracking_object_merger/config/decorative_tracker_merger.param.yaml
+        variants:
+          - path: autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
+      # Perception/obstacle_segmentation
+      # Perception/occupancy_grid_map
+      # Perception/traffic_light_recognition
+
+localization: []
+map: []
+planning: []
+control: []
+system: []
+vehicle: []
+simulator: []

.github/workflows/check-params.yaml

@@ -0,0 +1,93 @@
+name: check-params
+
+on:
+  pull_request:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  resolve-categories:
+    runs-on: ubuntu-22.04
+    outputs:
+      matrix: ${{ steps.build-matrix.outputs.matrix }}
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Install yq
+        run: |
+          sudo wget -qO /usr/local/bin/yq https://github.com/mikefarah/yq/releases/download/v4.49.2/yq_linux_amd64
+          echo "be2c0ddcf426b6a231648610ec5d1666ae50e9f6473e82f6486f9f4cb6e3e2f7  /usr/local/bin/yq" | sha256sum -c -
+          sudo chmod +x /usr/local/bin/yq
+
+      - name: Build category matrix from config
+        id: build-matrix
+        run: |
+          set -euo pipefail
+          matrix_json="$(yq -o=json -I=0 '. | keys' .github/sync-params.yaml)"
+          echo "matrix=${matrix_json}" >> "${GITHUB_OUTPUT}"
+          echo "Selected categories: ${matrix_json}"
+
+  # the test for script itself is done here for every PR until we move the workflow to a separate repository.
+  test-sync-params-script:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install ruamel.yaml
+
+      - name: Run unit tests
+        run: python .github/scripts/test_sync_params.py
+
+  check-params-per-category:
+    needs: resolve-categories
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      max-parallel: 4
+      matrix:
+        category: ${{ fromJson(needs.resolve-categories.outputs.matrix) }}
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install ruamel.yaml
+
+      - name: Check params
+        run: python .github/scripts/sync_params.py --check ${{ matrix.category }}
+
+  check-params:
+    needs: [check-params-per-category, test-sync-params-script]
+    if: ${{ always() }}
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Evaluate per-category results
+        run: |
+          if [[ "${{ needs.check-params-per-category.result }}" != "success" ]]; then
+            echo "At least one category check failed."
+            exit 1
+          fi
+          if [[ "${{ needs.test-sync-params-script.result }}" != "success" ]]; then
+            echo "sync_params.py unit tests failed."
+            exit 1
+          fi
+          echo "All category checks passed."