From 98c8d291b8f0c620f0cdbc3c8b0d62f106153dd2 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Wed, 7 Feb 2024 09:32:24 +0900 Subject: [PATCH 1/4] remove conventional parameter table Signed-off-by: Kento Yabuuchi --- localization/pose_initializer/README.md | 9 --------- 1 file changed, 9 deletions(-) diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md index 3063e13c10226..7006becf00c2f 100644 --- a/localization/pose_initializer/README.md +++ b/localization/pose_initializer/README.md @@ -13,15 +13,6 @@ This node depends on the map height fitter library. ### Parameters -| Name | Type | Description | -| --------------------- | ---- | ---------------------------------------------------------------------------------------- | -| `ekf_enabled` | bool | If true, EKF localizer is activated. | -| `ndt_enabled` | bool | If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through. | -| `stop_check_enabled` | bool | If true, initialization is accepted only when the vehicle is stopped. | -| `stop_check_duration` | bool | The duration used for the stop check above. | -| `gnss_enabled` | bool | If true, use the GNSS pose when no pose is specified. | -| `gnss_pose_timeout` | bool | The duration that the GNSS pose is valid. | - {{ json_to_markdown("localization/pose_initializer/schema/pose_initializer.schema.json") }} ### Services From 7c0dc46222b48c8b088d7eb53ade0f83b5bbd52f Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Wed, 7 Feb 2024 09:35:40 +0900 Subject: [PATCH 2/4] remove \n in array in json Signed-off-by: Kento Yabuuchi --- .../pose_initializer/schema/pose_initializer.schema.json | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/localization/pose_initializer/schema/pose_initializer.schema.json b/localization/pose_initializer/schema/pose_initializer.schema.json index 14a286f059030..ced4dc78b93b1 100644 --- a/localization/pose_initializer/schema/pose_initializer.schema.json +++ b/localization/pose_initializer/schema/pose_initializer.schema.json @@ -46,12 +46,12 @@ "gnss_particle_covariance": { "type": "array", "description": "gnss particle covariance", - "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 1.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]" + "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]" }, "output_pose_covariance": { "type": "array", "description": "output pose covariance", - "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 1.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]" + "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]" } }, "required": [ From fab019c57324aa9545180b2db3028441c0c0b93e Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Wed, 7 Feb 2024 09:41:09 +0900 Subject: [PATCH 3/4] add map_loader_name in param.yaml Signed-off-by: Kento Yabuuchi --- .../pose_initializer/config/pose_initializer.param.yaml | 2 ++ .../pose_initializer/launch/pose_initializer.launch.xml | 2 +- .../pose_initializer/schema/pose_initializer.schema.json | 8 +++++++- 3 files changed, 10 insertions(+), 2 deletions(-) diff --git a/localization/pose_initializer/config/pose_initializer.param.yaml b/localization/pose_initializer/config/pose_initializer.param.yaml index 88acbfb52611d..dd8c022c151cf 100644 --- a/localization/pose_initializer/config/pose_initializer.param.yaml +++ b/localization/pose_initializer/config/pose_initializer.param.yaml @@ -8,6 +8,8 @@ ndt_enabled: $(var ndt_enabled) stop_check_enabled: $(var stop_check_enabled) + map_loader_name: /map/pointcloud_map_loader + # from gnss gnss_particle_covariance: [ diff --git a/localization/pose_initializer/launch/pose_initializer.launch.xml b/localization/pose_initializer/launch/pose_initializer.launch.xml index a0fdde13c65c5..7dae50f763c87 100644 --- a/localization/pose_initializer/launch/pose_initializer.launch.xml +++ b/localization/pose_initializer/launch/pose_initializer.launch.xml @@ -17,7 +17,7 @@ - + diff --git a/localization/pose_initializer/schema/pose_initializer.schema.json b/localization/pose_initializer/schema/pose_initializer.schema.json index ced4dc78b93b1..3cc3e1eb6a0ca 100644 --- a/localization/pose_initializer/schema/pose_initializer.schema.json +++ b/localization/pose_initializer/schema/pose_initializer.schema.json @@ -52,6 +52,11 @@ "type": "array", "description": "output pose covariance", "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]" + }, + "map_loader_name": { + "type": "string", + "description": "Node name of the map loader from which this node will retrieve its parameters", + "default": "/map/pointcloud_map_loader" } }, "required": [ @@ -63,7 +68,8 @@ "ndt_enabled", "stop_check_enabled", "gnss_particle_covariance", - "output_pose_covariance" + "output_pose_covariance", + "map_loader_name" ], "additionalProperties": false } From 2b9119653ef53312b58b5e34cfe619c312f9410e Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 21 Feb 2024 01:29:25 +0000 Subject: [PATCH 4/4] style(pre-commit): autofix --- .../schema/pose_initializer.schema.json | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/localization/pose_initializer/schema/pose_initializer.schema.json b/localization/pose_initializer/schema/pose_initializer.schema.json index e253e0eb2e25b..ced4dc78b93b1 100644 --- a/localization/pose_initializer/schema/pose_initializer.schema.json +++ b/localization/pose_initializer/schema/pose_initializer.schema.json @@ -76,14 +76,10 @@ "$ref": "#/definitions/pose_initializer" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false -} \ No newline at end of file +}