refactor(map_height_fitter): rework parameters (#6327)

* Create param.yaml and schema.json file for map_height_fitter.
Revised README.md of map_height_fitter to match the current status.

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* Fixed typo

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* style(pre-commit): autofix

* Added double quot to map_loader_node

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

---------

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: TaikiYamada4

map/map_height_fitter/CMakeLists.txt

@@ -14,4 +14,7 @@ ament_auto_add_executable(node
   src/node.cpp
 )
 
-ament_auto_package(INSTALL_TO_SHARE launch)
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config)

map/map_height_fitter/README.md

@@ -4,8 +4,18 @@ This library fits the given point with the ground of the point cloud map.
 The map loading operation is switched by the parameter `enable_partial_load` of the node specified by `map_loader_name`.
 The node using this library must use multi thread executor.
 
-| Interface    | Local Name         | Description                              |
-| ------------ | ------------------ | ---------------------------------------- |
-| Parameter    | map_loader_name    | The point cloud map loader name.         |
-| Subscription | ~/pointcloud_map   | The topic name to load the whole map     |
-| Client       | ~/partial_map_load | The service name to load the partial map |
+## Parameters
+
+{{ json_to_markdown("map/map_height_fitter/schema/map_height_fitter.schema.json") }}
+
+## Topic subscription
+
+| Topic Name       | Description                                                                                  |
+| ---------------- | -------------------------------------------------------------------------------------------- |
+| ~/pointcloud_map | The topic containing the whole pointcloud map (only used when `enable_partial_load = false`) |
+
+## Service client
+
+| Service Name       | Description                         |
+| ------------------ | ----------------------------------- |
+| ~/partial_map_load | The service to load the partial map |

map/map_height_fitter/config/map_height_fitter.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    map_loader_name: "/map/pointcloud_map_loader"

map/map_height_fitter/launch/map_height_fitter.launch.xml

@@ -1,8 +1,10 @@
 <launch>
+  <arg name="param_path" default="$(find-pkg-share map_height_fitter)/config/map_height_fitter.param.yaml"/>
+
   <group>
     <push-ros-namespace namespace="map"/>
     <node pkg="map_height_fitter" exec="node" name="map_height_fitter">
-      <param name="map_loader_name" value="/map/pointcloud_map_loader"/>
+      <param from="$(var param_path)"/>
       <remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
       <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
     </node>

map/map_height_fitter/schema/map_height_fitter.schema.json

@@ -0,0 +1,33 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for map_height_fitter",
+  "type": "object",
+  "definitions": {
+    "map_height_fitter": {
+      "type": "object",
+      "properties": {
+        "map_loader_name": {
+          "type": "string",
+          "description": "Node name of the map loader from which this map_height_fitter will retrieve its parameters",
+          "default": "/map/pointcloud_map_loader"
+        }
+      },
+      "required": ["map_loader_name"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/map_height_fitter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}