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Merge pull request #1 from mitsudome-r/fix/radar_tracks_msgs_converter
fix: restore parameter description and make json schema description simpler
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perception/radar_tracks_msgs_converter/README.md

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@@ -52,4 +52,37 @@ Autoware objects label is defined in [ObjectClassification.idl](https://gitlab.c
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### Parameters
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#### Parameter Summary
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{{ json_to_markdown("perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json") }}
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#### Parameter Description
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- `update_rate_hz` (double) [hz]
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- Default parameter is 20.0
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This parameter is update rate for the `onTimer` function.
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This parameter should be same as the frame rate of input topics.
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- `new_frame_id` (string)
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- Default parameter is "base_link"
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This parameter is the header frame_id of the output topic.
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- `use_twist_compensation` (bool)
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- Default parameter is "true"
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This parameter is the flag to use the compensation to linear of ego vehicle's twist.
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If the parameter is true, then the twist of the output objects' topic is compensated by the ego vehicle linear motion.
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- `use_twist_yaw_compensation` (bool)
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- Default parameter is "false"
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This parameter is the flag to use the compensation to yaw rotation of ego vehicle's twist.
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If the parameter is true, then the ego motion compensation will also consider yaw motion of the ego vehicle.
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- `static_object_speed_threshold` (float) [m/s]
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- Default parameter is 1.0
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This parameter is the threshold to determine the flag `is_stationary`.
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If the velocity is lower than this parameter, the flag `is_stationary` of DetectedObject is set to `true` and dealt as a static object.
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perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json

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"properties": {
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"update_rate_hz": {
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"type": "number",
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"description": "The update rate [hz] for the `onTimer` function. Should be the same as the frame rate of input topics.",
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"description": "The update rate [hz] of the output topic",
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"default": "20.0",
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"minimum": 0.0
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},
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"new_frame_id": {
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"type": "string",
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"description": "The header frame_id of the output topic.",
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"description": "The header frame_id of the output topic",
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"default": "base_link"
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},
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"use_twist_compensation": {
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"type": "boolean",
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"description": "Flag to enable the compensation to linear of ego vehicle's twist. If true, the twist of the output objects' topic is compensated by the ego vehicle linear motion.",
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"description": "Flag to enable the linear compensation of ego vehicle's twist",
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"default": "false"
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},
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"use_twist_yaw_compensation": {
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"type": "boolean",
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"description": "Flag to enable the compensation to yaw rotation of ego vehicle's twist. If true, the ego motion compensation will also consider yaw motion of the ego vehicle.",
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"description": "Flag to enable the compensation of yaw rotation of ego vehicle's twist",
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"default": "false"
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},
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"static_object_speed_threshold": {
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"type": "number",
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"description": "Threshold to determine the flag `is_stationary`. If the velocity is lower than this parameter, the flag `is_stationary` of DetectedObject is set to `true` and dealt as a static object.",
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"description": "Threshold to treat detected objects as static objects",
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"default": "1.0"
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}
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},

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