diff --git a/map/util/lanelet2_map_preprocessor/CMakeLists.txt b/map/util/lanelet2_map_preprocessor/CMakeLists.txt
index 8a6b16c05011b..982a262455efa 100644
--- a/map/util/lanelet2_map_preprocessor/CMakeLists.txt
+++ b/map/util/lanelet2_map_preprocessor/CMakeLists.txt
@@ -29,5 +29,6 @@ if(BUILD_TESTING)
endif()
ament_auto_package(INSTALL_TO_SHARE
+ config
launch
)
diff --git a/map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml b/map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml
new file mode 100644
index 0000000000000..de86ef7936d74
--- /dev/null
+++ b/map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml
@@ -0,0 +1,5 @@
+/**:
+ ros__parameters:
+ llt_map_path: $(var llt_map_path)
+ pcd_map_path: $(var pcd_map_path)
+ llt_output_path: $(var llt_output_path)
diff --git a/map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml b/map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml
new file mode 100644
index 0000000000000..548c28055c834
--- /dev/null
+++ b/map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml
@@ -0,0 +1,12 @@
+/**:
+ ros__parameters:
+ llt_map_path: $(var llt_map_path)
+ pcd_map_path: $(var pcd_map_path)
+ llt_output_path: $(var llt_output_path)
+ pcd_output_path: $(var pcd_output_path)
+ x: 0.0
+ y: 0.0
+ z: 0.0
+ roll: 0.0
+ pitch: 0.0
+ yaw: 0.0
diff --git a/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml b/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml
index 82021ff25d240..5b2aa2e425184 100644
--- a/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml
+++ b/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml
@@ -1,12 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
- <arg name="llt_map_path" default=""/>
- <arg name="pcd_map_path" default=""/>
- <arg name="llt_output_path" default=""/>
-
<node pkg="lanelet2_map_preprocessor" exec="fix_z_value_by_pcd" name="fix_z_value_by_pcd" output="screen">
- <param name="llt_map_path" value="$(var llt_map_path)"/>
- <param name="pcd_map_path" value="$(var pcd_map_path)"/>
- <param name="llt_output_path" value="$(var llt_output_path)"/>
+ <param from="$(find-pkg-share lanelet2_map_preprocessor)/config/fix_z_value_by_pcd.param.yaml" allow_substs="true"/>
</node>
</launch>
diff --git a/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml b/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml
index 902ca982dace1..950593771878c 100644
--- a/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml
+++ b/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml
@@ -1,26 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
- <arg name="llt_map_path" default=""/>
- <arg name="pcd_map_path" default=""/>
- <arg name="llt_output_path" default=""/>
- <arg name="pcd_output_path" default=""/>
- <arg name="x" default="0.0"/>
- <arg name="y" default="0.0"/>
- <arg name="z" default="0.0"/>
- <arg name="roll" default="0.0"/>
- <arg name="pitch" default="0.0"/>
- <arg name="yaw" default="0.0"/>
-
<node pkg="lanelet2_map_preprocessor" exec="transform_maps" name="transform_maps" output="screen">
- <param name="llt_map_path" value="$(var llt_map_path)"/>
- <param name="pcd_map_path" value="$(var pcd_map_path)"/>
- <param name="llt_output_path" value="$(var llt_output_path)"/>
- <param name="pcd_output_path" value="$(var pcd_output_path)"/>
- <param name="x" value="$(var x)"/>
- <param name="y" value="$(var y)"/>
- <param name="z" value="$(var z)"/>
- <param name="roll" value="$(var roll)"/>
- <param name="pitch" value="$(var pitch)"/>
- <param name="yaw" value="$(var yaw)"/>
+ <param from="$(find-pkg-share lanelet2_map_preprocessor)/config/transform_maps.param.yaml" allow_substs="true"/>
</node>
</launch>
diff --git a/map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json b/map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json
new file mode 100644
index 0000000000000..78fb3952d44ce
--- /dev/null
+++ b/map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json
@@ -0,0 +1,75 @@
+{
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for Transforming Maps",
+ "type": "object",
+ "definitions": {
+ "transform_maps": {
+ "type": "object",
+ "properties": {
+ "llt_map_path": {
+ "type": "string",
+ "description": "Path pointing to the input lanelet2 file",
+ "default": ""
+ },
+ "pcd_map_path": {
+ "type": "string",
+ "description": "Path pointing to the input point cloud file",
+ "default": ""
+ },
+ "llt_output_path": {
+ "type": "string",
+ "description": "Path pointing to the output lanelet2 file",
+ "default": ""
+ },
+ "pcd_output_path": {
+ "type": "string",
+ "description": "Path pointing to the output point cloud file",
+ "default": ""
+ },
+ "x": {
+ "type": "number",
+ "default": 0.0,
+ "description": "x factor of Translation vector for transforming maps [m]"
+ },
+ "y": {
+ "type": "number",
+ "default": 0.0,
+ "description": "y factor of Translation vector for transforming maps [m]"
+ },
+ "z": {
+ "type": "number",
+ "default": 0.0,
+ "description": "z factor of Translation vector for transforming maps [m]"
+ },
+ "roll": {
+ "type": "number",
+ "default": 0.0,
+ "description": "roll factor of Rotation vector for transforming maps [rad]"
+ },
+ "pitch": {
+ "type": "number",
+ "default": 0.0,
+ "description": "pitch factor of Rotation vector for transforming maps [rad]"
+ },
+ "yaw": {
+ "type": "number",
+ "default": 0.0,
+ "description": "yaw factor of Rotation vector for transforming maps [rad]"
+ }
+ },
+ "required": ["x", "y", "z", "roll", "pitch", "yaw"]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/transform_maps"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+}
diff --git a/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp b/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp
index 987f559be1e8e..2317ddb7d9f95 100644
--- a/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp
+++ b/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp
@@ -107,12 +107,12 @@ int main(int argc, char * argv[])
const auto pcd_map_path = node->declare_parameter<std::string>("pcd_map_path");
const auto llt_output_path = node->declare_parameter<std::string>("llt_output_path");
const auto pcd_output_path = node->declare_parameter<std::string>("pcd_output_path");
- const auto x = node->declare_parameter<double>("x", 0.0);
- const auto y = node->declare_parameter<double>("y", 0.0);
- const auto z = node->declare_parameter<double>("z", 0.0);
- const auto roll = node->declare_parameter<double>("roll", 0.0);
- const auto pitch = node->declare_parameter<double>("pitch", 0.0);
- const auto yaw = node->declare_parameter<double>("yaw", 0.0);
+ const auto x = node->declare_parameter<double>("x");
+ const auto y = node->declare_parameter<double>("y");
+ const auto z = node->declare_parameter<double>("z");
+ const auto roll = node->declare_parameter<double>("roll");
+ const auto pitch = node->declare_parameter<double>("pitch");
+ const auto yaw = node->declare_parameter<double>("yaw");
std::cout << "transforming maps with following parameters" << std::endl
<< "x " << x << std::endl