refactor(map_tf_generator): rework parameters (#6233)

* refactor(map_tf_generator): rework parameters

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* add config

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: YamatoAndo

launch/tier4_map_launch/launch/map.launch.xml

@@ -8,6 +8,7 @@
   <!-- Parameter files -->
   <arg name="pointcloud_map_loader_param_path"/>
   <arg name="lanelet2_map_loader_param_path"/>
+  <arg name="map_tf_generator_param_path"/>
   <arg name="map_projection_loader_param_path"/>
 
   <!-- whether use intra-process -->
@@ -48,8 +49,7 @@
       </composable_node>
 
       <composable_node pkg="map_tf_generator" plugin="VectorMapTFGeneratorNode" name="vector_map_tf_generator">
-        <param name="map_frame" value="map"/>
-        <param name="viewer_frame" value="viewer"/>
+        <param from="$(var map_tf_generator_param_path)"/>
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
     </node_container>

map/map_tf_generator/CMakeLists.txt

@@ -48,5 +48,6 @@ if(BUILD_TESTING)
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE
+  config
   launch
 )

map/map_tf_generator/Readme.md map/map_tf_generator/README.md

@@ -43,10 +43,7 @@ None
 
 ### Core Parameters
 
-| Name           | Type   | Default Value | Explanation                           |
-| -------------- | ------ | ------------- | ------------------------------------- |
-| `viewer_frame` | string | viewer        | Name of `viewer` frame                |
-| `map_frame`    | string | map           | The parent frame name of viewer frame |
+{{ json_to_markdown("map/map_tf_generator/schema/map_tf_generator.schema.json") }}
 
 ## Assumptions / Known limits
 

map/map_tf_generator/config/map_tf_generator.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    map_frame: map
+    viewer_frame: viewer

map/map_tf_generator/launch/map_tf_generator.launch.xml

@@ -1,13 +1,11 @@
 <launch>
-  <arg name="input_vector_map_topic" default="/map/vector_map"/>
+  <arg name="param_file" default="$(find-pkg-share map_tf_generator)/config/map_tf_generator.param.yaml"/>
 
-  <arg name="map_frame" default="map"/>
-  <arg name="viewer_frame" default="viewer"/>
+  <arg name="input_vector_map_topic" default="/map/vector_map"/>
 
   <node pkg="map_tf_generator" exec="vector_map_tf_generator" name="vector_map_tf_generator">
     <remap from="vector_map" to="$(var input_vector_map_topic)"/>
 
-    <param name="map_frame" value="$(var map_frame)"/>
-    <param name="viewer_frame" value="$(var viewer_frame)"/>
+    <param from="$(var param_file)"/>
   </node>
 </launch>

map/map_tf_generator/schema/map_tf_generator.schema.json

@@ -0,0 +1,38 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Map Tf Generator",
+  "type": "object",
+  "definitions": {
+    "map_tf_generator": {
+      "type": "object",
+      "properties": {
+        "map_frame": {
+          "type": "string",
+          "description": "The parent frame name of viewer frame",
+          "default": "map"
+        },
+        "viewer_frame": {
+          "type": "string",
+          "description": "Name of `viewer` frame",
+          "default": "viewer"
+        }
+      },
+      "required": ["map_frame", "viewer_frame"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/map_tf_generator"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

map/map_tf_generator/src/pcd_map_tf_generator_node.cpp

@@ -36,8 +36,8 @@ class PcdMapTFGeneratorNode : public rclcpp::Node
   explicit PcdMapTFGeneratorNode(const rclcpp::NodeOptions & options)
   : Node("pcd_map_tf_generator", options)
   {
-    map_frame_ = declare_parameter("map_frame", "map");
-    viewer_frame_ = declare_parameter("viewer_frame", "viewer");
+    map_frame_ = declare_parameter<std::string>("map_frame");
+    viewer_frame_ = declare_parameter<std::string>("viewer_frame");
 
     sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(
       "pointcloud_map", rclcpp::QoS{1}.transient_local(),

map/map_tf_generator/src/vector_map_tf_generator_node.cpp

@@ -31,8 +31,8 @@ class VectorMapTFGeneratorNode : public rclcpp::Node
   explicit VectorMapTFGeneratorNode(const rclcpp::NodeOptions & options)
   : Node("vector_map_tf_generator", options)
   {
-    map_frame_ = declare_parameter("map_frame", "map");
-    viewer_frame_ = declare_parameter("viewer_frame", "viewer");
+    map_frame_ = declare_parameter<std::string>("map_frame");
+    viewer_frame_ = declare_parameter<std::string>("viewer_frame");
 
     sub_ = create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
       "vector_map", rclcpp::QoS{1}.transient_local(),