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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 @@
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"type": "boolean",
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"default": "true",
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"description": "map loading mode selection, true for dynamic map loading, false for static map loading, recommended for no-split map pointcloud"
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},
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"timer_interval_ms": {
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"type": "number",
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"default": "100",
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"description": "Timer interval to load map points [ms]"
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},
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"map_update_distance_threshold": {
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"type": "number",
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"default": "10.0",
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"description": "Threshold distance to update map points with input points [m]"
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},
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"map_loader_radius": {
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"type": "number",
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"default": "150.0",
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"description": "Radius to load map points [m]"
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},
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"publish_debug_pcd": {
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"type": "boolean",
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"default": "false",
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"description": "Publish a downsampled map pointcloud for debugging"
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}
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},
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"required": ["distance_threshold", "use_dynamic_map_loading"],
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"required": [
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"distance_threshold",
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"use_dynamic_map_loading",
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"timer_interval_ms",
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"map_update_distance_threshold",
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"map_loader_radius",
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"publish_debug_pcd"
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],
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"additionalProperties": false
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}
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},

‎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 @@
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"type": "number",
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"default": "0.5",
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"description": "Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis"
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},
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"timer_interval_ms": {
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"type": "number",
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"default": "100",
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"description": "Timer interval to load map points [ms]"
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},
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"map_update_distance_threshold": {
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"type": "number",
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"default": "10.0",
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"description": "Threshold distance to update map points with input points [m]"
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},
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"map_loader_radius": {
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"type": "number",
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"default": "150.0",
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"description": "Radius to load map points [m]"
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},
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"publish_debug_pcd": {
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"type": "boolean",
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"default": "false",
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"description": "Publish a downsampled map pointcloud for debugging"
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}
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},
25-
"required": ["distance_threshold", "use_dynamic_map_loading", "downsize_ratio_z_axis"],
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"required": [
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"distance_threshold",
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"use_dynamic_map_loading",
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"downsize_ratio_z_axis",
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"timer_interval_ms",
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"map_update_distance_threshold",
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"map_loader_radius",
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"publish_debug_pcd"
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],
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"additionalProperties": false
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}
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},

‎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 @@
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"default": "0.5",
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"description": "Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis"
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},
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"timer_interval_ms": {
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"type": "number",
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"default": "100",
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"description": "Timer interval to load map points [ms]"
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},
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"map_update_distance_threshold": {
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"type": "number",
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"default": "10.0",
@@ -31,19 +36,20 @@
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"default": "150.0",
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"description": "Radius to load map points [m]"
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},
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"timer_interval_ms": {
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"type": "number",
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"default": "100",
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"description": "Timer interval to load map points [ms]"
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"publish_debug_pcd": {
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"type": "boolean",
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"default": "false",
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"description": "Publish a downsampled map pointcloud for debugging"
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}
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},
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"required": [
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"distance_threshold",
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"use_dynamic_map_loading",
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"downsize_ratio_z_axis",
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"timer_interval_ms",
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"map_update_distance_threshold",
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"map_loader_radius",
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"timer_interval_ms"
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"publish_debug_pcd"
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],
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"additionalProperties": false
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}

‎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",
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"default": "0.5",
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"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
}
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},
25-
"required": ["distance_threshold", "use_dynamic_map_loading", "downsize_ratio_z_axis"],
45+
"required": [
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"distance_threshold",
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"use_dynamic_map_loading",
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"downsize_ratio_z_axis",
49+
"timer_interval_ms",
50+
"map_update_distance_threshold",
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"map_loader_radius",
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"publish_debug_pcd"
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],
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"additionalProperties": false
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}
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},

‎planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json

+2-1
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,7 @@
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"behavior_output_path_interval": {
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"type": "number",
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"default": "1.0",
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"description": "output path interval"
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"description": "the output path will be interpolated by this interval"
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},
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"max_accel": {
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"type": "number",
@@ -56,6 +56,7 @@
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"forward_path_length",
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"behavior_output_path_interval",
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"backward_path_length",
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"behavior_output_path_interval",
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"max_accel",
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"system_delay",
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"delay_response_time",

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