refactor(radar_tracks_msgs_converter)

Rework parameters

Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
Change-Id: If28e9c97bc6db3b522c680f215b3f8cb95ec58b7

Author: kaspermeck-arm

perception/radar_tracks_msgs_converter/README.md

@@ -52,31 +52,4 @@ Autoware objects label is defined in [ObjectClassification.idl](https://gitlab.c
 
 ### Parameters
 
-- `update_rate_hz` (double) [hz]
-  - Default parameter is 20.0
-
-This parameter is update rate for the `onTimer` function.
-This parameter should be same as the frame rate of input topics.
-
-- `new_frame_id` (string)
-  - Default parameter is "base_link"
-
-This parameter is the header frame_id of the output topic.
-
-- `use_twist_compensation` (bool)
-  - Default parameter is "true"
-
-This parameter is the flag to use the compensation to linear of ego vehicle's twist.
-If the parameter is true, then the twist of the output objects' topic is compensated by the ego vehicle linear motion.
-
-- `use_twist_yaw_compensation` (bool)
-  - Default parameter is "false"
-
-This parameter is the flag to use the compensation to yaw rotation of ego vehicle's twist.
-If the parameter is true, then the ego motion compensation will also consider yaw motion of the ego vehicle.
-
-- `static_object_speed_threshold` (float) [m/s]
-  - Default parameter is 1.0
-
-This parameter is the threshold to determine the flag `is_stationary`.
-If the velocity is lower than this parameter, the flag `is_stationary` of DetectedObject is set to `true` and dealt as a static object.
+{{ json_to_markdown("perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json") }}

perception/radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml

@@ -3,13 +3,13 @@
   <arg name="input/odometry" default="/localization/kinematic_state"/>
   <arg name="output/radar_detected_objects" default="output/radar_detected_objects"/>
   <arg name="output/radar_tracked_objects" default="output/radar_tracked_objects"/>
-  <arg name="param_path" default="$(find-pkg-share radar_tracks_msgs_converter)/config/radar_tracks_msgs_converter.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share radar_tracks_msgs_converter)/config/radar_tracks_msgs_converter.param.yaml"/>
 
   <node pkg="radar_tracks_msgs_converter" exec="radar_tracks_msgs_converter_node" name="radar_tracks_msgs_converter" output="screen">
     <remap from="~/input/radar_objects" to="$(var input/radar_objects)"/>
     <remap from="~/input/odometry" to="$(var input/odometry)"/>
     <remap from="~/output/radar_detected_objects" to="$(var output/radar_detected_objects)"/>
     <remap from="~/output/radar_tracked_objects" to="$(var output/radar_tracked_objects)"/>
-    <param from="$(var param_path)"/>
+    <param from="$(var config_file)"/>
   </node>
 </launch>

perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json

@@ -0,0 +1,57 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Radar Tracks Msgs Converter node",
+  "type": "object",
+  "definitions": {
+    "radar_tracks_msgs_converter": {
+      "type": "object",
+      "properties": {
+        "update_rate_hz": {
+          "type": "number",
+          "description": "The update rate [hz] for the `onTimer` function. Should be the same as the frame rate of input topics.",
+          "default": "20.0",
+          "minimum": 0.0
+        },
+        "new_frame_id": {
+          "type": "string",
+          "description": "The header frame_id of the output topic.",
+          "default": "base_link"
+        },
+        "use_twist_compensation": {
+          "type": "boolean",
+          "description": "Flag to enable the compensation to linear of ego vehicle's twist. If true, the twist of the output objects' topic is compensated by the ego vehicle linear motion.",
+          "default": "false"
+        },
+        "use_twist_yaw_compensation": {
+          "type": "boolean",
+          "description": "Flag to enable the compensation to yaw rotation of ego vehicle's twist. If true, the ego motion compensation will also consider yaw motion of the ego vehicle.",
+          "default": "false"
+        },
+        "static_object_speed_threshold": {
+          "type": "number",
+          "description": "Threshold to determine the flag `is_stationary`. If the velocity is lower than this parameter, the flag `is_stationary` of DetectedObject is set to `true` and dealt as a static object.",
+          "default": "1.0"
+        }
+      },
+      "required": [
+        "update_rate_hz",
+        "new_frame_id",
+        "use_twist_compensation",
+        "use_twist_yaw_compensation",
+        "static_object_speed_threshold"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/radar_tracks_msgs_converter"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}