multi_object_tracker_node.schema.json

{
    "$schema": "http://json-schema.org/draft-07/schema#",
    "title": "Parameters for Multi Object Tracker Node",
    "type": "object",
    "definitions": {
      "multi_object_tracker_node": {
        "type": "object",
        "properties": {
          "car_tracker": {
            "type": "string",
            "description": "Tracker model for car class.",
            "default": "multi_vehicle_tracker"
          },
          "truck_tracker": {
            "type": "string",
            "description": "Tracker model for truck class.",
            "default": "multi_vehicle_tracker"
          },
          "bus_tracker": {
            "type": "string",
            "description": "Tracker model for bus class.",
            "default": "multi_vehicle_tracker"
          },
          "trailer_tracker": {
            "type": "string",
            "description": "Tracker model for trailer class.",
            "default": "multi_vehicle_tracker"
          },
          "pedestrian_tracker": {
            "type": "string",
            "description": "Tracker model for pedestrian class.",
            "default": "pedestrian_and_bicycle_tracker"
          },
          "bicycle_tracker": {
            "type": "string",
            "description": "Tracker model for bicycle class.",
            "default": "pedestrian_and_bicycle_tracker"
          },
          "motorcycle_tracker": {
            "type": "string",
            "description": "Tracker model for motorcycle class.",
            "default": "pedestrian_and_bicycle_tracker"
          },
          "publish_rate": {
            "type": "number",
            "description": "Timer frequency to output with delay compensation.",
            "default": 10.0
          },
          "world_frame_id": {
            "type": "string",
            "description": "Object kinematics definition frame.",
            "default": "map"
          },
          "enable_delay_compensation": {
            "type": "boolean",
            "description": "If True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp.",
            "default": false
          },
          "publish_processing_time": {
            "type": "boolean",
            "description": "Enable to publish debug message of process time information.",
            "default": false
          },
          "publish_tentative_objects": {
            "type": "boolean",
            "description": "Enable to publish tentative tracked objects, which have lower confidence.",
            "default": false
          },
          "publish_debug_markers": {
            "type": "boolean",
            "description": "Enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection.",
            "default": false
          },
          "diagnostics_warn_delay": {
            "type": "number",
            "description": "Delay threshold for warning diagnostics in seconds.",
            "default": 0.5
          },
          "diagnostics_error_delay": {
            "type": "number",
            "description": "Delay threshold for error diagnostics in seconds.",
            "default": 1.0
          }
        },
        "required": [
          "car_tracker",
          "truck_tracker",
          "bus_tracker",
          "trailer_tracker",
          "pedestrian_tracker",
          "bicycle_tracker",
          "motorcycle_tracker",
          "publish_rate",
          "world_frame_id",
          "enable_delay_compensation",
          "publish_processing_time",
          "publish_tentative_objects",
          "publish_debug_markers",
          "diagnostics_warn_delay",
          "diagnostics_error_delay"
        ]
      }
    },
    "properties": {
      "/**": {
        "type": "object",
        "properties": {
          "ros__parameters": {
            "$ref": "#/definitions/multi_object_tracker_node"
          }
        },
        "required": ["ros__parameters"]
      }
    },
    "required": ["/**"]
  }