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‎localization/ekf_localizer/schema/ekf_localizer.schema.json

+48-52
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@@ -1,56 +1,52 @@
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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "EKF Localizer Configuration",
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"type": "object",
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"type": "object",
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"properties": {
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"node": {
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"$ref": "subschema/node.subschema.json#/definitions/node"
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},
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"pose_measurement": {
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"$ref": "subschema/pose_measurement.subschema.json#/definitions/pose_measurement"
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},
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"twist_measurement": {
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"$ref": "subschema/twist_measurement.subschema.json#/definitions/twist_measurement"
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},
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"process_noise": {
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"$ref": "subschema/process_noise.subschema.json#/definitions/process_noise"
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},
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"simple_1d_filter_parameters": {
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"$ref": "subschema/simple_1d_filter_parameters.subschema.json#/definitions/simple_1d_filter_parameters"
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},
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"diagnostics": {
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"$ref": "subschema/diagnostics.subschema.json#/definitions/diagnostics"
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},
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"misc": {
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"$ref": "subschema/misc.subschema.json#/definitions/misc"
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}
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},
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"required": [
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"node",
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"pose_measurement",
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"twist_measurement",
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"process_noise",
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"simple_1d_filter_parameters",
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"diagnostics",
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"misc"
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],
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"additionalProperties": false
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}
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "EKF Localizer Configuration",
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"type": "object",
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"type": "object",
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"properties": {
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"node": {
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"$ref": "subschema/node.subschema.json#/definitions/node"
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},
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"required": [
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"ros__parameters"
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],
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"additionalProperties": false
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"pose_measurement": {
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"$ref": "subschema/pose_measurement.subschema.json#/definitions/pose_measurement"
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},
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"twist_measurement": {
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"$ref": "subschema/twist_measurement.subschema.json#/definitions/twist_measurement"
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},
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"process_noise": {
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"$ref": "subschema/process_noise.subschema.json#/definitions/process_noise"
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},
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"simple_1d_filter_parameters": {
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"$ref": "subschema/simple_1d_filter_parameters.subschema.json#/definitions/simple_1d_filter_parameters"
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},
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"diagnostics": {
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"$ref": "subschema/diagnostics.subschema.json#/definitions/diagnostics"
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},
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"misc": {
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"$ref": "subschema/misc.subschema.json#/definitions/misc"
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}
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},
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"required": [
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"node",
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"pose_measurement",
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"twist_measurement",
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"process_noise",
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"simple_1d_filter_parameters",
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"diagnostics",
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"misc"
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],
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"additionalProperties": false
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}
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},
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"required": [
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"/**"
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],
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"additionalProperties": false
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

‎localization/ekf_localizer/schema/subschema/diagnostics.subschema.json

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@@ -1,38 +1,38 @@
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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "EKF Localizer Configuration for Diagnostics",
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"definitions": {
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"diagnostics": {
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"type": "object",
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"properties": {
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"pose_no_update_count_threshold_warn": {
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"type": "integer",
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"description": "The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
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"default": 50
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},
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"pose_no_update_count_threshold_error": {
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"type": "integer",
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"description": "The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
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"default": 100
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},
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"twist_no_update_count_threshold_warn": {
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"type": "integer",
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"description": "The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
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"default": 50
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},
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"twist_no_update_count_threshold_error": {
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"type": "integer",
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"description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
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"default": 100
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}
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},
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"required": [
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"pose_no_update_count_threshold_warn",
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"pose_no_update_count_threshold_error",
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"twist_no_update_count_threshold_warn",
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"twist_no_update_count_threshold_error"
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],
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"additionalProperties": false
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "EKF Localizer Configuration for Diagnostics",
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"definitions": {
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"diagnostics": {
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"type": "object",
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"properties": {
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"pose_no_update_count_threshold_warn": {
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"type": "integer",
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"description": "The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
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"default": 50
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},
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"pose_no_update_count_threshold_error": {
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"type": "integer",
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"description": "The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
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"default": 100
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},
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"twist_no_update_count_threshold_warn": {
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"type": "integer",
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"description": "The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
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"default": 50
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},
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"twist_no_update_count_threshold_error": {
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"type": "integer",
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"description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
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"default": 100
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}
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},
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"required": [
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"pose_no_update_count_threshold_warn",
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"pose_no_update_count_threshold_error",
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"twist_no_update_count_threshold_warn",
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"twist_no_update_count_threshold_error"
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],
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"additionalProperties": false
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}
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}
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}

‎localization/ekf_localizer/schema/subschema/misc.subschema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "EKF Localizer Configuration for MISC",
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"definitions": {
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"misc": {
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"type": "object",
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"properties": {
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"threshold_observable_velocity_mps": {
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"type": "number",
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"description": "Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor [m/s] (0.0 means disabled)",
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"default": 0.0
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}
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},
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"required": [
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"threshold_observable_velocity_mps"
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],
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"additionalProperties": false
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "EKF Localizer Configuration for MISC",
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"definitions": {
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"misc": {
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"type": "object",
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"properties": {
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"threshold_observable_velocity_mps": {
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"type": "number",
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"description": "Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor [m/s] (0.0 means disabled)",
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"default": 0.0
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}
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},
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"required": ["threshold_observable_velocity_mps"],
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"additionalProperties": false
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}
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}
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}

‎localization/ekf_localizer/schema/subschema/node.subschema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "EKF Localizer Configuration for node",
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"definitions": {
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"node": {
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"type": "object",
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"properties": {
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"show_debug_info": {
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"type": "boolean",
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"description": "Flag to display debug info",
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"default": false
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},
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"predict_frequency": {
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"type": "number",
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"description": "Frequency for filtering and publishing [Hz]",
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"default": 50.0
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},
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"tf_rate": {
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"type": "number",
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"description": "Frequency for tf broadcasting [Hz]",
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"default": 50.0
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},
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"publish_tf": {
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"type": "boolean",
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"description": "Whether to publish tf",
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"default": true
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},
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"extend_state_step": {
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"type": "integer",
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"description": "Max delay step which can be dealt with in EKF. Large number increases computational cost.",
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"default": 50
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},
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"enable_yaw_bias_estimation": {
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"type": "boolean",
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"description": "Flag to enable yaw bias estimation",
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"default": true
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}
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},
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"required": [
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"show_debug_info",
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"predict_frequency",
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"tf_rate",
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"publish_tf",
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"extend_state_step",
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"enable_yaw_bias_estimation"
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],
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"additionalProperties": false
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "EKF Localizer Configuration for node",
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"definitions": {
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"node": {
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"type": "object",
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"properties": {
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"show_debug_info": {
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"type": "boolean",
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"description": "Flag to display debug info",
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"default": false
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},
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"predict_frequency": {
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"type": "number",
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"description": "Frequency for filtering and publishing [Hz]",
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"default": 50.0
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},
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"tf_rate": {
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"type": "number",
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"description": "Frequency for tf broadcasting [Hz]",
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"default": 50.0
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},
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"publish_tf": {
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"type": "boolean",
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"description": "Whether to publish tf",
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"default": true
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},
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"extend_state_step": {
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"type": "integer",
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"description": "Max delay step which can be dealt with in EKF. Large number increases computational cost.",
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"default": 50
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},
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"enable_yaw_bias_estimation": {
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"type": "boolean",
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"description": "Flag to enable yaw bias estimation",
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"default": true
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}
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},
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"required": [
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"show_debug_info",
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"predict_frequency",
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"tf_rate",
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"publish_tf",
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"extend_state_step",
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"enable_yaw_bias_estimation"
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],
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"additionalProperties": false
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}
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}
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}

‎localization/ekf_localizer/schema/subschema/pose_measurement.subschema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "EKF Localizer Configuration for Pose Measurement",
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"definitions": {
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"pose_measurement": {
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"type": "object",
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"properties": {
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"pose_additional_delay": {
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"type": "number",
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"description": "Additional delay time for pose measurement [s]",
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"default": 0.0
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},
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"pose_measure_uncertainty_time": {
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"type": "number",
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"description": "Measured time uncertainty used for covariance calculation [s]",
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"default": 0.01
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},
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"pose_smoothing_steps": {
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"type": "integer",
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"description": "A value for smoothing steps",
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"default": 5
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},
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"pose_gate_dist": {
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"type": "number",
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"description": "Limit of Mahalanobis distance used for outliers detection",
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"default": 10000.0
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}
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},
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"required": [
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"pose_additional_delay",
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"pose_measure_uncertainty_time",
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"pose_smoothing_steps",
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"pose_gate_dist"
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],
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"additionalProperties": false
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "EKF Localizer Configuration for Pose Measurement",
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"definitions": {
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"pose_measurement": {
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"type": "object",
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"properties": {
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"pose_additional_delay": {
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"type": "number",
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"description": "Additional delay time for pose measurement [s]",
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"default": 0.0
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},
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"pose_measure_uncertainty_time": {
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"type": "number",
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"description": "Measured time uncertainty used for covariance calculation [s]",
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"default": 0.01
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},
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"pose_smoothing_steps": {
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"type": "integer",
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"description": "A value for smoothing steps",
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"default": 5
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},
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"pose_gate_dist": {
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"type": "number",
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"description": "Limit of Mahalanobis distance used for outliers detection",
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"default": 10000.0
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}
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},
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"required": [
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"pose_additional_delay",
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"pose_measure_uncertainty_time",
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"pose_smoothing_steps",
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"pose_gate_dist"
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],
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"additionalProperties": false
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}
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}
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}

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