chore(twist2accel): rework parameters (#6266)

* Added twist2accel.param.yaml

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

* Added twist2accel.schema.json

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

* Fixed README.md and description

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

* style(pre-commit): autofix

* Removed default parameters

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

---------

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: SakodaShintaro

launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml

@@ -27,10 +27,10 @@
 
   <group>
     <include file="$(find-pkg-share twist2accel)/launch/twist2accel.launch.xml">
-      <arg name="use_odom" value="true"/>
       <arg name="in_odom" value="/localization/kinematic_state"/>
       <arg name="in_twist" value="/localization/twist_estimator/twist_with_covariance"/>
       <arg name="out_accel" value="/localization/acceleration"/>
+      <arg name="param_file" value="$(var twist2accel_param_path)"/>
     </include>
   </group>
 

localization/twist2accel/CMakeLists.txt

@@ -13,4 +13,5 @@ ament_target_dependencies(twist2accel)
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )

localization/twist2accel/README.md

@@ -21,10 +21,7 @@ This package is responsible for estimating acceleration using the output of `ekf
 
 ## Parameters
 
-| Name                 | Type   | Description                                                               |
-| -------------------- | ------ | ------------------------------------------------------------------------- |
-| `use_odom`           | bool   | use odometry if true, else use twist input (default: true)                |
-| `accel_lowpass_gain` | double | lowpass gain for lowpass filter in estimating acceleration (default: 0.9) |
+{{ json_to_markdown("localization/twist2accel/schema/twist2accel.schema.json") }}
 
 ## Future work
 

localization/twist2accel/config/twist2accel.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    use_odom: true
+    accel_lowpass_gain: 0.9

localization/twist2accel/launch/twist2accel.launch.xml

@@ -1,14 +1,13 @@
 <launch>
-  <arg name="use_odom" default="true"/>
-  <arg name="accel_lowpass_gain" default="0.9"/>
+  <arg name="param_file" default="$(find-pkg-share twist2accel)/config/twist2accel.param.yaml"/>
+
   <arg name="in_odom" default="in_odom"/>
   <arg name="in_twist" default="in_twist"/>
   <arg name="out_accel" default="out_accel"/>
   <node pkg="twist2accel" exec="twist2accel" name="twist2accel" output="screen">
     <remap from="input/odom" to="$(var in_odom)"/>
     <remap from="input/twist" to="$(var in_twist)"/>
     <remap from="output/accel" to="$(var out_accel)"/>
-    <param name="accel_lowpass_gain" value="$(var accel_lowpass_gain)"/>
-    <param name="use_odom" value="$(var use_odom)"/>
+    <param from="$(var param_file)"/>
   </node>
 </launch>

localization/twist2accel/schema/twist2accel.schema.json

@@ -0,0 +1,36 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for twist2accel Nodes",
+  "type": "object",
+  "definitions": {
+    "twist2accel": {
+      "type": "object",
+      "properties": {
+        "use_odom": {
+          "type": "boolean",
+          "default": true,
+          "description": "use odometry if true, else use twist input."
+        },
+        "accel_lowpass_gain": {
+          "type": "number",
+          "default": 0.9,
+          "minimum": 0.0,
+          "description": "lowpass gain for lowpass filter in estimating acceleration."
+        }
+      },
+      "required": ["use_odom", "accel_lowpass_gain"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/twist2accel"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

localization/twist2accel/src/twist2accel.cpp

@@ -35,8 +35,8 @@ Twist2Accel::Twist2Accel(const std::string & node_name, const rclcpp::NodeOption
   pub_accel_ = create_publisher<geometry_msgs::msg::AccelWithCovarianceStamped>("output/accel", 1);
 
   prev_twist_ptr_ = nullptr;
-  accel_lowpass_gain_ = declare_parameter("accel_lowpass_gain", 0.5);
-  use_odom_ = declare_parameter("use_odom", true);
+  accel_lowpass_gain_ = declare_parameter<double>("accel_lowpass_gain");
+  use_odom_ = declare_parameter<bool>("use_odom");
 
   lpf_alx_ptr_ = std::make_shared<LowpassFilter1d>(accel_lowpass_gain_);
   lpf_aly_ptr_ = std::make_shared<LowpassFilter1d>(accel_lowpass_gain_);