Skip to content

Commit 60fcb92

Browse files
author
M. Fatih Cırıt
committed
fix(json-schema-check): update schemas
Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
1 parent 1397e91 commit 60fcb92

5 files changed

+99
-9
lines changed

perception/compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json

+28-1
Original file line numberDiff line numberDiff line change
@@ -15,9 +15,36 @@
1515
"type": "boolean",
1616
"default": "true",
1717
"description": "map loading mode selection, true for dynamic map loading, false for static map loading, recommended for no-split map pointcloud"
18+
},
19+
"timer_interval_ms": {
20+
"type": "number",
21+
"default": "100",
22+
"description": "Timer interval to load map points [ms]"
23+
},
24+
"map_update_distance_threshold": {
25+
"type": "number",
26+
"default": "10.0",
27+
"description": "Threshold distance to update map points with input points [m]"
28+
},
29+
"map_loader_radius": {
30+
"type": "number",
31+
"default": "150.0",
32+
"description": "Radius to load map points [m]"
33+
},
34+
"publish_debug_pcd": {
35+
"type": "boolean",
36+
"default": "false",
37+
"description": "Publish a downsampled map pointcloud for debugging"
1838
}
1939
},
20-
"required": ["distance_threshold", "use_dynamic_map_loading"],
40+
"required": [
41+
"distance_threshold",
42+
"use_dynamic_map_loading",
43+
"timer_interval_ms",
44+
"map_update_distance_threshold",
45+
"map_loader_radius",
46+
"publish_debug_pcd"
47+
],
2148
"additionalProperties": false
2249
}
2350
},

perception/compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json

+29-1
Original file line numberDiff line numberDiff line change
@@ -20,9 +20,37 @@
2020
"type": "number",
2121
"default": "0.5",
2222
"description": "Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis"
23+
},
24+
"timer_interval_ms": {
25+
"type": "number",
26+
"default": "100",
27+
"description": "Timer interval to load map points [ms]"
28+
},
29+
"map_update_distance_threshold": {
30+
"type": "number",
31+
"default": "10.0",
32+
"description": "Threshold distance to update map points with input points [m]"
33+
},
34+
"map_loader_radius": {
35+
"type": "number",
36+
"default": "150.0",
37+
"description": "Radius to load map points [m]"
38+
},
39+
"publish_debug_pcd": {
40+
"type": "boolean",
41+
"default": "false",
42+
"description": "Publish a downsampled map pointcloud for debugging"
2343
}
2444
},
25-
"required": ["distance_threshold", "use_dynamic_map_loading", "downsize_ratio_z_axis"],
45+
"required": [
46+
"distance_threshold",
47+
"use_dynamic_map_loading",
48+
"downsize_ratio_z_axis",
49+
"timer_interval_ms",
50+
"map_update_distance_threshold",
51+
"map_loader_radius",
52+
"publish_debug_pcd"
53+
],
2654
"additionalProperties": false
2755
}
2856
},

perception/compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json

+11-5
Original file line numberDiff line numberDiff line change
@@ -21,6 +21,11 @@
2121
"default": "0.5",
2222
"description": "Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis"
2323
},
24+
"timer_interval_ms": {
25+
"type": "number",
26+
"default": "100",
27+
"description": "Timer interval to load map points [ms]"
28+
},
2429
"map_update_distance_threshold": {
2530
"type": "number",
2631
"default": "10.0",
@@ -31,19 +36,20 @@
3136
"default": "150.0",
3237
"description": "Radius to load map points [m]"
3338
},
34-
"timer_interval_ms": {
35-
"type": "number",
36-
"default": "100",
37-
"description": "Timer interval to load map points [ms]"
39+
"publish_debug_pcd": {
40+
"type": "boolean",
41+
"default": "false",
42+
"description": "Publish a downsampled map pointcloud for debugging"
3843
}
3944
},
4045
"required": [
4146
"distance_threshold",
4247
"use_dynamic_map_loading",
4348
"downsize_ratio_z_axis",
49+
"timer_interval_ms",
4450
"map_update_distance_threshold",
4551
"map_loader_radius",
46-
"timer_interval_ms"
52+
"publish_debug_pcd"
4753
],
4854
"additionalProperties": false
4955
}

perception/compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json

+29-1
Original file line numberDiff line numberDiff line change
@@ -20,9 +20,37 @@
2020
"type": "number",
2121
"default": "0.5",
2222
"description": "Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis"
23+
},
24+
"timer_interval_ms": {
25+
"type": "number",
26+
"default": "100",
27+
"description": "Timer interval to load map points [ms]"
28+
},
29+
"map_update_distance_threshold": {
30+
"type": "number",
31+
"default": "10.0",
32+
"description": "Threshold distance to update map points with input points [m]"
33+
},
34+
"map_loader_radius": {
35+
"type": "number",
36+
"default": "150.0",
37+
"description": "Radius to load map points [m]"
38+
},
39+
"publish_debug_pcd": {
40+
"type": "boolean",
41+
"default": "false",
42+
"description": "Publish a downsampled map pointcloud for debugging"
2343
}
2444
},
25-
"required": ["distance_threshold", "use_dynamic_map_loading", "downsize_ratio_z_axis"],
45+
"required": [
46+
"distance_threshold",
47+
"use_dynamic_map_loading",
48+
"downsize_ratio_z_axis",
49+
"timer_interval_ms",
50+
"map_update_distance_threshold",
51+
"map_loader_radius",
52+
"publish_debug_pcd"
53+
],
2654
"additionalProperties": false
2755
}
2856
},

planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json

+2-1
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,7 @@
1919
"behavior_output_path_interval": {
2020
"type": "number",
2121
"default": "1.0",
22-
"description": "output path interval"
22+
"description": "the output path will be interpolated by this interval"
2323
},
2424
"max_accel": {
2525
"type": "number",
@@ -56,6 +56,7 @@
5656
"forward_path_length",
5757
"behavior_output_path_interval",
5858
"backward_path_length",
59+
"behavior_output_path_interval",
5960
"max_accel",
6061
"system_delay",
6162
"delay_response_time",

0 commit comments

Comments
 (0)