refactor(lanelet2_map_preprocessor): rework parameter

map/util/lanelet2_map_preprocessor/CMakeLists.txt

@@ -29,5 +29,6 @@ if(BUILD_TESTING)
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE
+  config
   launch
 )

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)

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

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>

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>

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": ["/**"]
+}

map/util/lanelet2_map_preprocessor/src/transform_maps.cpp

@@ -107,12 +107,12 @@
   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