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doc: Replace parameter tables to JSON Schema ones in README
Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp>
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‎localization/ekf_localizer/README.md

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@@ -78,65 +78,33 @@ The parameters are set in `launch/ekf_localizer.launch` .
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### For Node
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| Name | Type | Description | Default value |
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| :------------------------- | :----- | :---------------------------------------------------------------------------------------- | :------------ |
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| show_debug_info | bool | Flag to display debug info | false |
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| predict_frequency | double | Frequency for filtering and publishing [Hz] | 50.0 |
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| tf_rate | double | Frequency for tf broadcasting [Hz] | 10.0 |
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| publish_tf | bool | Whether to publish tf | true |
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| extend_state_step | int | Max delay step which can be dealt with in EKF. Large number increases computational cost. | 50 |
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| enable_yaw_bias_estimation | bool | Flag to enable yaw bias estimation | true |
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{{ json_to_markdown("localization/ekf_localizer/schema/subschema/node.subschema.json") }}
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### For pose measurement
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| Name | Type | Description | Default value |
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| :---------------------------- | :----- | :------------------------------------------------------------ | :------------ |
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| pose_additional_delay | double | Additional delay time for pose measurement [s] | 0.0 |
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| pose_measure_uncertainty_time | double | Measured time uncertainty used for covariance calculation [s] | 0.01 |
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| pose_smoothing_steps | int | A value for smoothing steps | 5 |
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| pose_gate_dist | double | Limit of Mahalanobis distance used for outliers detection | 10000.0 |
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{{ json_to_markdown("localization/ekf_localizer/schema/subschema/pose_measurement.subschema.json") }}
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### For twist measurement
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| Name | Type | Description | Default value |
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| :--------------------- | :----- | :-------------------------------------------------------- | :------------ |
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| twist_additional_delay | double | Additional delay time for twist [s] | 0.0 |
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| twist_smoothing_steps | int | A value for smoothing steps | 2 |
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| twist_gate_dist | double | Limit of Mahalanobis distance used for outliers detection | 10000.0 |
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{{ json_to_markdown("localization/ekf_localizer/schema/subschema/twist_measurement.subschema.json") }}
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### For process noise
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| Name | Type | Description | Default value |
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| :--------------------- | :----- | :--------------------------------------------------------------------------------------------------------------- | :------------ |
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| proc_stddev_vx_c | double | Standard deviation of process noise in time differentiation expression of linear velocity x, noise for d_vx = 0 | 2.0 |
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| proc_stddev_wz_c | double | Standard deviation of process noise in time differentiation expression of angular velocity z, noise for d_wz = 0 | 0.2 |
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| proc_stddev_yaw_c | double | Standard deviation of process noise in time differentiation expression of yaw, noise for d_yaw = omega | 0.005 |
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| proc_stddev_yaw_bias_c | double | Standard deviation of process noise in time differentiation expression of yaw_bias, noise for d_yaw_bias = 0 | 0.001 |
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{{ json_to_markdown("localization/ekf_localizer/schema/subschema/process_noise.subschema.json") }}
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note: process noise for positions x & y are calculated automatically from nonlinear dynamics.
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### Simple 1D Filter Parameters
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| Name | Type | Description | Default value |
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| :-------------------- | :----- | :---------------------------------------------- | :------------ |
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| z_filter_proc_dev | double | Simple1DFilter - Z filter process deviation | 1.0 |
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| roll_filter_proc_dev | double | Simple1DFilter - Roll filter process deviation | 0.01 |
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| pitch_filter_proc_dev | double | Simple1DFilter - Pitch filter process deviation | 0.01 |
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{{ json_to_markdown("localization/ekf_localizer/schema/subschema/simple_1d_filter_parameters.subschema.json") }}
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### For diagnostics
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| Name | Type | Description | Default value |
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| :------------------------------------ | :----- | :----------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
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| pose_no_update_count_threshold_warn | size_t | The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times. | 50 |
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| pose_no_update_count_threshold_error | size_t | The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times. | 250 |
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| twist_no_update_count_threshold_warn | size_t | The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times. | 50 |
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| twist_no_update_count_threshold_error | size_t | The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times. | 250 |
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{{ json_to_markdown("localization/ekf_localizer/schema/subschema/diagnostics.subschema.json") }}
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### Misc
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| Name | Type | Description | Default value |
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| :-------------------------------- | :----- | :------------------------------------------------------------------------------------------------- | :------------- |
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| threshold_observable_velocity_mps | double | Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor | 0.0 (disabled) |
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{{ json_to_markdown("localization/ekf_localizer/schema/subschema/misc.subschema.json") }}
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## How to tune EKF parameters
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