pose_initializer.schema.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for Pose Initializer Node",
  "type": "object",
  "definitions": {
    "pose_initializer": {
      "type": "object",
      "properties": {
        "gnss_pose_timeout": {
          "type": "number",
          "description": "The duration that the GNSS pose is valid. [sec]",
          "default": "3.0",
          "minimum": 0.0
        },
        "stop_check_enabled": {
          "type": "boolean",
          "description": "If true, initialization is accepted only when the vehicle is stopped.",
          "default": "true"
        },
        "stop_check_duration": {
          "type": "number",
          "description": "The duration used for the stop check above. [sec]",
          "default": "3.0",
          "minimum": 0.0
        },
        "ekf_enabled": {
          "type": "boolean",
          "description": "If true, EKF localizer is activated.",
          "default": "true"
        },
        "gnss_enabled": {
          "type": "boolean",
          "description": "If true, use the GNSS pose when no pose is specified.",
          "default": "true"
        },
        "yabloc_enabled": {
          "type": "boolean",
          "description": "If true, YabLocModule is used.",
          "default": "true"
        },
        "ndt_enabled": {
          "type": "boolean",
          "description": "If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.",
          "default": "true"
        },
        "gnss_particle_covariance": {
          "type": "array",
          "description": "gnss particle covariance",
          "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0,\n  0.0, 1.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]"
        },
        "output_pose_covariance": {
          "type": "array",
          "description": "output pose covariance",
          "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 1.0, 0.0,  0.0,  0.0,  0.0,\n 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]"
        }
      },
      "required": [
        "gnss_pose_timeout",
        "stop_check_duration",
        "ekf_enabled",
        "gnss_enabled",
        "yabloc_enabled",
        "ndt_enabled",
        "stop_check_enabled",
        "gnss_particle_covariance",
        "output_pose_covariance"
      ],
      "additionalProperties": false
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/pose_initializer"
        }
      },
      "required": ["ros__parameters"],
      "additionalProperties": false
    }
  },
  "required": ["/**"],
  "additionalProperties": false
}