From 762c625b370446c7f79afa8009190004fae4dade Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 22 Jan 2025 04:54:40 +0000
Subject: [PATCH] style(pre-commit): autofix

---
 ...re_autonomous_emergency_braking.launch.xml |  36 +-
 .../autonomous_emergency_braking.schema.json  | 429 +++++++++---------
 2 files changed, 231 insertions(+), 234 deletions(-)

diff --git a/control/autoware_autonomous_emergency_braking/launch/autoware_autonomous_emergency_braking.launch.xml b/control/autoware_autonomous_emergency_braking/launch/autoware_autonomous_emergency_braking.launch.xml
index 62a0b57df4195..34d0492799577 100644
--- a/control/autoware_autonomous_emergency_braking/launch/autoware_autonomous_emergency_braking.launch.xml
+++ b/control/autoware_autonomous_emergency_braking/launch/autoware_autonomous_emergency_braking.launch.xml
@@ -1,22 +1,20 @@
-
 <launch>
- <arg name="param_path" default="$(find-pkg-share autoware_autonomous_emergency_braking)/config/autonomous_emergency_braking.param.yaml"/>
- <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
- <arg name="input_velocity" default="/vehicle/status/velocity_status"/>
- <arg name="input_imu" default="/sensing/imu/imu_data"/>
- <arg name="input_predicted_trajectory" default="/control/trajectory_follower/lateral/predicted_trajectory"/>
- <arg name="input_objects" default="/perception/object_recognition/objects"/>
-
+  <arg name="param_path" default="$(find-pkg-share autoware_autonomous_emergency_braking)/config/autonomous_emergency_braking.param.yaml"/>
+  <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="input_velocity" default="/vehicle/status/velocity_status"/>
+  <arg name="input_imu" default="/sensing/imu/imu_data"/>
+  <arg name="input_predicted_trajectory" default="/control/trajectory_follower/lateral/predicted_trajectory"/>
+  <arg name="input_objects" default="/perception/object_recognition/objects"/>
 
- <node pkg="autoware_autonomous_emergency_braking" exec="autoware_autonomous_emergency_braking" name="autonomous_emergency_braking" output="screen">
-   <!-- load config files -->
-   <param from="$(var param_path)"/>
-   <!-- remap topic name -->
-   <remap from="~/input/pointcloud" to="$(var input_pointcloud)"/>
-   <remap from="~/input/velocity" to="$(var input_velocity)"/>
-   <remap from="~/input/imu" to="$(var input_imu)"/>
-   <remap from="~/input/odometry" to="$(var input_odometry)"/>
-   <remap from="~/input/predicted_trajectory" to="$(var input_predicted_trajectory)"/>
-   <remap from="~/input/objects" to="$(var input_objects)"/>
- </node>
+  <node pkg="autoware_autonomous_emergency_braking" exec="autoware_autonomous_emergency_braking" name="autonomous_emergency_braking" output="screen">
+    <!-- load config files -->
+    <param from="$(var param_path)"/>
+    <!-- remap topic name -->
+    <remap from="~/input/pointcloud" to="$(var input_pointcloud)"/>
+    <remap from="~/input/velocity" to="$(var input_velocity)"/>
+    <remap from="~/input/imu" to="$(var input_imu)"/>
+    <remap from="~/input/odometry" to="$(var input_odometry)"/>
+    <remap from="~/input/predicted_trajectory" to="$(var input_predicted_trajectory)"/>
+    <remap from="~/input/objects" to="$(var input_objects)"/>
+  </node>
 </launch>
diff --git a/control/autoware_autonomous_emergency_braking/schema/autonomous_emergency_braking.schema.json b/control/autoware_autonomous_emergency_braking/schema/autonomous_emergency_braking.schema.json
index 291a984ba4697..53b53fb86f899 100644
--- a/control/autoware_autonomous_emergency_braking/schema/autonomous_emergency_braking.schema.json
+++ b/control/autoware_autonomous_emergency_braking/schema/autonomous_emergency_braking.schema.json
@@ -1,216 +1,215 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "autoware_autonomous_emergency_braking parameter",
-    "type": "object",
-    "definitions": {
-      "autoware_autonomous_emergency_braking": {
-        "type": "object",
-        "properties": {
-          "use_predicted_trajectory": {
-            "type": "boolean",
-            "description": "Flag to use the predicted path from the control module.",
-            "default": true
-          },
-          "use_imu_path": {
-            "type": "boolean",
-            "description": "Flag to use the predicted path generated by sensor data.",
-            "default": true
-          },
-          "limit_imu_path_lat_dev": {
-            "type": "boolean",
-            "description": "Flag to limit the lateral deviation of the IMU path.",
-            "default": false
-          },
-          "limit_imu_path_length": {
-            "type": "boolean",
-            "description": "Flag to limit the length of the IMU path.",
-            "default": true
-          },
-          "use_pointcloud_data": {
-            "type": "boolean",
-            "description": "Flag to use point cloud data for collision detection.",
-            "default": true
-          },
-          "use_predicted_object_data": {
-            "type": "boolean",
-            "description": "Flag to use predicted object data.",
-            "default": false
-          },
-          "use_object_velocity_calculation": {
-            "type": "boolean",
-            "description": "Flag to use object velocity calculation. If false, object velocity is set to 0 m/s.",
-            "default": true
-          },
-          "check_autoware_state": {
-            "type": "boolean",
-            "description": "Flag to enable or disable Autoware state check.",
-            "default": true
-          },
-          "imu_path_lat_dev_threshold": {
-            "type": "number",
-            "description": "Lateral deviation threshold for the IMU path.",
-            "default": 1.75
-          },
-          "min_generated_imu_path_length": {
-            "type": "number",
-            "description": "Minimum distance for a predicted path generated by sensors.",
-            "default": 0.5
-          },
-          "max_generated_imu_path_length": {
-            "type": "number",
-            "description": "Maximum distance for a predicted path generated by sensors.",
-            "default": 10.0
-          },
-          "imu_prediction_time_horizon": {
-            "type": "number",
-            "description": "Time horizon of the predicted path generated by sensors.",
-            "default": 1.5
-          },
-          "imu_prediction_time_interval": {
-            "type": "number",
-            "description": "Time interval of the predicted path generated by sensors.",
-            "default": 0.1
-          },
-          "mpc_prediction_time_horizon": {
-            "type": "number",
-            "description": "Time horizon of the predicted path generated by MPC.",
-            "default": 4.5
-          },
-          "mpc_prediction_time_interval": {
-            "type": "number",
-            "description": "Time interval of the predicted path generated by MPC.",
-            "default": 0.1
-          },
-          "publish_debug_pointcloud": {
-            "type": "boolean",
-            "description": "Flag to publish the point cloud used for debugging.",
-            "default": false
-          },
-          "publish_debug_markers": {
-            "type": "boolean",
-            "description": "Flag to publish debug markers.",
-            "default": true
-          },
-          "detection_range_min_height": {
-            "type": "number",
-            "description": "Minimum height of detection range used to avoid ghost braking by false positives.",
-            "default": 0.0
-          },
-          "detection_range_max_height_margin": {
-            "type": "number",
-            "description": "Margin for maximum height of detection range used to avoid ghost braking.",
-            "default": 0.0
-          },
-          "voxel_grid_x": {
-            "type": "number",
-            "description": "Downsampling parameter for x-axis in the voxel grid filter.",
-            "default": 0.1
-          },
-          "voxel_grid_y": {
-            "type": "number",
-            "description": "Downsampling parameter for y-axis in the voxel grid filter.",
-            "default": 0.1
-          },
-          "voxel_grid_z": {
-            "type": "number",
-            "description": "Downsampling parameter for z-axis in the voxel grid filter.",
-            "default": 0.5
-          },
-          "expand_width": {
-            "type": "number",
-            "description": "Expansion width of the ego vehicle for collision checking, path cropping, and speed calculation.",
-            "default": -0.2
-          },
-          "path_footprint_extra_margin": {
-            "type": "number",
-            "description": "Extra margin added to the ego vehicle footprint for cropping the point cloud.",
-            "default": 1.0
-          },
-          "speed_calculation_expansion_margin": {
-            "type": "number",
-            "description": "Expansion width of the ego vehicle footprint used for speed calculation.",
-            "default": 0.7
-          },
-          "cluster_tolerance": {
-            "type": "number",
-            "description": "Maximum allowable distance between two points in the same cluster.",
-            "default": 0.15
-          },
-          "cluster_minimum_height": {
-            "type": "number",
-            "description": "Minimum height of a cluster to be considered as a target.",
-            "default": 0.1
-          },
-          "minimum_cluster_size": {
-            "type": "integer",
-            "description": "Minimum number of points in a cluster to be considered as a target.",
-            "default": 10
-          },
-          "maximum_cluster_size": {
-            "type": "integer",
-            "description": "Maximum number of points in a cluster to be considered as a target.",
-            "default": 10000
-          },
-          "longitudinal_offset_margin": {
-            "type": "number",
-            "description": "Longitudinal offset distance for collision checking.",
-            "default": 1.0
-          },
-          "t_response": {
-            "type": "number",
-            "description": "Response time for the ego vehicle to detect a decelerating object.",
-            "default": 1.0
-          },
-          "a_ego_min": {
-            "type": "number",
-            "description": "Maximum deceleration value of the ego vehicle.",
-            "default": -3.0
-          },
-          "a_obj_min": {
-            "type": "number",
-            "description": "Maximum deceleration value of objects.",
-            "default": -1.0
-          },
-          "collision_keeping_sec": {
-            "type": "number",
-            "description": "Time duration to keep detecting a collision.",
-            "default": 3.0
-          },
-          "previous_obstacle_keep_time": {
-            "type": "number",
-            "description": "Time duration to keep the previous obstacle detected.",
-            "default": 1.0
-          },
-          "aeb_hz": {
-            "type": "number",
-            "description": "Frequency at which the AEB module operates.",
-            "default": 10.0
-          }
-        },
-        "required": [
-          "use_predicted_trajectory",
-          "use_imu_path",
-          "publish_debug_markers",
-          "detection_range_min_height",
-          "voxel_grid_x",
-          "expand_width"
-        ],
-        "additionalProperties": false
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/autoware_autonomous_emergency_braking"
-          }
-        },
-        "required": ["ros__parameters"],
-        "additionalProperties": false
-      }
-    },
-    "required": ["/**"],
-    "additionalProperties": false
-  }
-  
\ No newline at end of file
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_autonomous_emergency_braking parameter",
+  "type": "object",
+  "definitions": {
+    "autoware_autonomous_emergency_braking": {
+      "type": "object",
+      "properties": {
+        "use_predicted_trajectory": {
+          "type": "boolean",
+          "description": "Flag to use the predicted path from the control module.",
+          "default": true
+        },
+        "use_imu_path": {
+          "type": "boolean",
+          "description": "Flag to use the predicted path generated by sensor data.",
+          "default": true
+        },
+        "limit_imu_path_lat_dev": {
+          "type": "boolean",
+          "description": "Flag to limit the lateral deviation of the IMU path.",
+          "default": false
+        },
+        "limit_imu_path_length": {
+          "type": "boolean",
+          "description": "Flag to limit the length of the IMU path.",
+          "default": true
+        },
+        "use_pointcloud_data": {
+          "type": "boolean",
+          "description": "Flag to use point cloud data for collision detection.",
+          "default": true
+        },
+        "use_predicted_object_data": {
+          "type": "boolean",
+          "description": "Flag to use predicted object data.",
+          "default": false
+        },
+        "use_object_velocity_calculation": {
+          "type": "boolean",
+          "description": "Flag to use object velocity calculation. If false, object velocity is set to 0 m/s.",
+          "default": true
+        },
+        "check_autoware_state": {
+          "type": "boolean",
+          "description": "Flag to enable or disable Autoware state check.",
+          "default": true
+        },
+        "imu_path_lat_dev_threshold": {
+          "type": "number",
+          "description": "Lateral deviation threshold for the IMU path.",
+          "default": 1.75
+        },
+        "min_generated_imu_path_length": {
+          "type": "number",
+          "description": "Minimum distance for a predicted path generated by sensors.",
+          "default": 0.5
+        },
+        "max_generated_imu_path_length": {
+          "type": "number",
+          "description": "Maximum distance for a predicted path generated by sensors.",
+          "default": 10.0
+        },
+        "imu_prediction_time_horizon": {
+          "type": "number",
+          "description": "Time horizon of the predicted path generated by sensors.",
+          "default": 1.5
+        },
+        "imu_prediction_time_interval": {
+          "type": "number",
+          "description": "Time interval of the predicted path generated by sensors.",
+          "default": 0.1
+        },
+        "mpc_prediction_time_horizon": {
+          "type": "number",
+          "description": "Time horizon of the predicted path generated by MPC.",
+          "default": 4.5
+        },
+        "mpc_prediction_time_interval": {
+          "type": "number",
+          "description": "Time interval of the predicted path generated by MPC.",
+          "default": 0.1
+        },
+        "publish_debug_pointcloud": {
+          "type": "boolean",
+          "description": "Flag to publish the point cloud used for debugging.",
+          "default": false
+        },
+        "publish_debug_markers": {
+          "type": "boolean",
+          "description": "Flag to publish debug markers.",
+          "default": true
+        },
+        "detection_range_min_height": {
+          "type": "number",
+          "description": "Minimum height of detection range used to avoid ghost braking by false positives.",
+          "default": 0.0
+        },
+        "detection_range_max_height_margin": {
+          "type": "number",
+          "description": "Margin for maximum height of detection range used to avoid ghost braking.",
+          "default": 0.0
+        },
+        "voxel_grid_x": {
+          "type": "number",
+          "description": "Downsampling parameter for x-axis in the voxel grid filter.",
+          "default": 0.1
+        },
+        "voxel_grid_y": {
+          "type": "number",
+          "description": "Downsampling parameter for y-axis in the voxel grid filter.",
+          "default": 0.1
+        },
+        "voxel_grid_z": {
+          "type": "number",
+          "description": "Downsampling parameter for z-axis in the voxel grid filter.",
+          "default": 0.5
+        },
+        "expand_width": {
+          "type": "number",
+          "description": "Expansion width of the ego vehicle for collision checking, path cropping, and speed calculation.",
+          "default": -0.2
+        },
+        "path_footprint_extra_margin": {
+          "type": "number",
+          "description": "Extra margin added to the ego vehicle footprint for cropping the point cloud.",
+          "default": 1.0
+        },
+        "speed_calculation_expansion_margin": {
+          "type": "number",
+          "description": "Expansion width of the ego vehicle footprint used for speed calculation.",
+          "default": 0.7
+        },
+        "cluster_tolerance": {
+          "type": "number",
+          "description": "Maximum allowable distance between two points in the same cluster.",
+          "default": 0.15
+        },
+        "cluster_minimum_height": {
+          "type": "number",
+          "description": "Minimum height of a cluster to be considered as a target.",
+          "default": 0.1
+        },
+        "minimum_cluster_size": {
+          "type": "integer",
+          "description": "Minimum number of points in a cluster to be considered as a target.",
+          "default": 10
+        },
+        "maximum_cluster_size": {
+          "type": "integer",
+          "description": "Maximum number of points in a cluster to be considered as a target.",
+          "default": 10000
+        },
+        "longitudinal_offset_margin": {
+          "type": "number",
+          "description": "Longitudinal offset distance for collision checking.",
+          "default": 1.0
+        },
+        "t_response": {
+          "type": "number",
+          "description": "Response time for the ego vehicle to detect a decelerating object.",
+          "default": 1.0
+        },
+        "a_ego_min": {
+          "type": "number",
+          "description": "Maximum deceleration value of the ego vehicle.",
+          "default": -3.0
+        },
+        "a_obj_min": {
+          "type": "number",
+          "description": "Maximum deceleration value of objects.",
+          "default": -1.0
+        },
+        "collision_keeping_sec": {
+          "type": "number",
+          "description": "Time duration to keep detecting a collision.",
+          "default": 3.0
+        },
+        "previous_obstacle_keep_time": {
+          "type": "number",
+          "description": "Time duration to keep the previous obstacle detected.",
+          "default": 1.0
+        },
+        "aeb_hz": {
+          "type": "number",
+          "description": "Frequency at which the AEB module operates.",
+          "default": 10.0
+        }
+      },
+      "required": [
+        "use_predicted_trajectory",
+        "use_imu_path",
+        "publish_debug_markers",
+        "detection_range_min_height",
+        "voxel_grid_x",
+        "expand_width"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/autoware_autonomous_emergency_braking"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}