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| 1 | +{ |
| 2 | + "$schema": "http://json-schema.org/draft-07/schema#", |
| 3 | + "title": "Parameters for Pose Initializer Node", |
| 4 | + "type": "object", |
| 5 | + "definitions": { |
| 6 | + "pose_initializer": { |
| 7 | + "type": "object", |
| 8 | + "properties": { |
| 9 | + "gnss_pose_timeout": { |
| 10 | + "type": "number", |
| 11 | + "description": "The duration that the GNSS pose is valid. [sec]", |
| 12 | + "default": "3.0", |
| 13 | + "minimum": 0.0 |
| 14 | + }, |
| 15 | + "stop_check_enabled": { |
| 16 | + "type": "string", |
| 17 | + "description": "If true, initialization is accepted only when the vehicle is stopped.", |
| 18 | + "default": "true" |
| 19 | + }, |
| 20 | + "stop_check_duration": { |
| 21 | + "type": "number", |
| 22 | + "description": "The duration used for the stop check above. [sec]", |
| 23 | + "default": "3.0", |
| 24 | + "minimum": 0.0 |
| 25 | + }, |
| 26 | + "ekf_enabled": { |
| 27 | + "type": "string", |
| 28 | + "description": "If true, EKF localizer is activated.", |
| 29 | + "default": "true" |
| 30 | + }, |
| 31 | + "gnss_enabled": { |
| 32 | + "type": "string", |
| 33 | + "description": "If true, use the GNSS pose when no pose is specified.", |
| 34 | + "default": "true" |
| 35 | + }, |
| 36 | + "yabloc_enabled": { |
| 37 | + "type": "string", |
| 38 | + "description": "If true, YabLocModule is used.", |
| 39 | + "default": "true" |
| 40 | + }, |
| 41 | + "ndt_enabled": { |
| 42 | + "type": "string", |
| 43 | + "description": "If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.", |
| 44 | + "default": "true" |
| 45 | + }, |
| 46 | + "gnss_particle_covariance": { |
| 47 | + "type": "array", |
| 48 | + "description": "gnss particle covariance", |
| 49 | + "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]" |
| 50 | + }, |
| 51 | + "output_pose_covariance": { |
| 52 | + "type": "array", |
| 53 | + "description": "output pose covariance", |
| 54 | + "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]" |
| 55 | + } |
| 56 | + }, |
| 57 | + "required": [ |
| 58 | + "gnss_pose_timeout", |
| 59 | + "stop_check_duration", |
| 60 | + "ekf_enabled", |
| 61 | + "gnss_enabled", |
| 62 | + "yabloc_enabled", |
| 63 | + "ndt_enabled", |
| 64 | + "stop_check_enabled", |
| 65 | + "gnss_particle_covariance", |
| 66 | + "output_pose_covariance" |
| 67 | + ], |
| 68 | + "additionalProperties": false |
| 69 | + } |
| 70 | + }, |
| 71 | + "properties": { |
| 72 | + "/**": { |
| 73 | + "type": "object", |
| 74 | + "properties": { |
| 75 | + "ros__parameters": { |
| 76 | + "$ref": "#/definitions/pose_initializer" |
| 77 | + } |
| 78 | + }, |
| 79 | + "required": ["ros__parameters"], |
| 80 | + "additionalProperties": false |
| 81 | + } |
| 82 | + }, |
| 83 | + "required": ["/**"], |
| 84 | + "additionalProperties": false |
| 85 | +} |
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