refactor(multi_object_tracker): rework parameters

perception/multi_object_tracker/README.md

@@ -65,41 +65,16 @@ Multiple inputs are pre-defined in the input channel parameters (described below
 
 ### Input Channel parameters
 
-Available input channels are defined in [input_channels.param.yaml](config/input_channels.param.yaml).
-
-| Name                              | Type                                             | Description                           |
-| --------------------------------- | ------------------------------------------------ | ------------------------------------- |
-| `<channel>`                       |                                                  | the name of channel                   |
-| `<channel>.topic`                 | `autoware_perception_msgs::msg::DetectedObjects` | detected objects                      |
-| `<channel>.can_spawn_new_tracker` | `bool`                                           | a switch allow to spawn a new tracker |
-| `<channel>.optional.name`         | `std::string`                                    | channel name for analysis             |
-| `<channel>.optional.short_name`   | `std::string`                                    | short name for visualization          |
+{{ json_to_markdown("perception/multi_object_tracker/schema/input_channels.schema.json") }}
 
 ### Core Parameters
 
-Node parameters are defined in [multi_object_tracker_node.param.yaml](config/multi_object_tracker_node.param.yaml) and association parameters are defined in [data_association_matrix.param.yaml](config/data_association_matrix.param.yaml).
-
-#### Node parameters
-
-| Name                        | Type   | Description                                                                                                                 |
-| --------------------------- | ------ | --------------------------------------------------------------------------------------------------------------------------- |
-| `***_tracker`               | string | EKF tracker name for each class                                                                                             |
-| `world_frame_id`            | double | object kinematics definition frame                                                                                          |
-| `enable_delay_compensation` | bool   | if True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp |
-| `publish_rate`              | double | Timer frequency to output with delay compensation                                                                           |
-| `publish_processing_time`   | bool   | enable to publish debug message of process time information                                                                 |
-| `publish_tentative_objects` | bool   | enable to publish tentative tracked objects, which have lower confidence                                                    |
-| `publish_debug_markers`     | bool   | enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection       |
-
-#### Association parameters
-
-| Name                | Type   | Description                                 |
-| ------------------- | ------ | ------------------------------------------- |
-| `can_assign_matrix` | double | Assignment table for data association       |
-| `max_dist_matrix`   | double | Maximum distance table for data association |
-| `max_area_matrix`   | double | Maximum area table for data association     |
-| `min_area_matrix`   | double | Minimum area table for data association     |
-| `max_rad_matrix`    | double | Maximum angle table for data association    |
+{{ json_to_markdown("perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json") }}
+{{ json_to_markdown("perception/multi_object_tracker/schema/data_association_matrix.schema.json") }}
+
+#### Simulation parameters
+
+{{ json_to_markdown("perception/multi_object_tracker/schema/simulation_tracker.schema.json") }}
 
 ## Assumptions / Known limits
 

perception/multi_object_tracker/schema/data_association_matrix.schema.json

@@ -0,0 +1,74 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Data Association Matrix",
+  "type": "object",
+  "definitions": {
+    "data_association_matrix": {
+      "type": "object",
+      "properties": {
+        "can_assign_matrix": {
+          "type": "array",
+          "description": "Assignment table for data association.",
+          "items": {
+            "type": "integer"
+          }
+        },
+        "max_dist_matrix": {
+          "type": "array",
+          "description": "Maximum distance table for data association.",
+          "items": {
+            "type": "number"
+          }
+        },
+        "max_area_matrix": {
+          "type": "array",
+          "description": "Maximum area table for data association.",
+          "items": {
+            "type": "number"
+          }
+        },
+        "min_area_matrix": {
+          "type": "array",
+          "description": "Minimum area table for data association.",
+          "items": {
+            "type": "number"
+          }
+        },
+        "max_rad_matrix": {
+          "type": "array",
+          "description": "Maximum angle table for data association.",
+          "items": {
+            "type": "number"
+          }
+        },
+        "min_iou_matrix": {
+          "type": "array",
+          "description": "A matrix that represents the minimum Intersection over Union (IoU) limit allowed for assignment.",
+          "items": {
+            "type": "number"
+          }
+        }
+      },
+      "required": [
+        "can_assign_matrix",
+        "max_dist_matrix",
+        "max_area_matrix",
+        "min_area_matrix",
+        "max_rad_matrix",
+        "min_iou_matrix"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/data_association_matrix"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

perception/multi_object_tracker/schema/input_channels.schema.json

@@ -0,0 +1,80 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Input Channels",
+  "type": "object",
+  "definitions": {
+    "input_channel": {
+      "type": "object",
+      "properties": {
+        "topic": {
+          "type": "string",
+          "description": "The ROS topic name for the input channel."
+        },
+        "can_spawn_new_tracker": {
+          "type": "boolean",
+          "description": "Indicates if the input channel can spawn new trackers."
+        },
+        "optional": {
+          "type": "object",
+          "properties": {
+            "name": {
+              "type": "string",
+              "description": "The name of the input channel."
+            },
+            "short_name": {
+              "type": "string",
+              "description": "The short name of the input channel."
+            }
+          }
+        }
+      },
+      "required": ["topic", "can_spawn_new_tracker"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "type": "object",
+          "properties": {
+            "input_channels": {
+              "type": "object",
+              "properties": {
+                "detected_objects": { "$ref": "#/definitions/input_channel" },
+                "lidar_clustering": { "$ref": "#/definitions/input_channel" },
+                "lidar_centerpoint": { "$ref": "#/definitions/input_channel" },
+                "lidar_centerpoint_validated": { "$ref": "#/definitions/input_channel" },
+                "lidar_apollo": { "$ref": "#/definitions/input_channel" },
+                "lidar_apollo_validated": { "$ref": "#/definitions/input_channel" },
+                "lidar_pointpainitng": { "$ref": "#/definitions/input_channel" },
+                "lidar_pointpainting_validated": { "$ref": "#/definitions/input_channel" },
+                "camera_lidar_fusion": { "$ref": "#/definitions/input_channel" },
+                "detection_by_tracker": { "$ref": "#/definitions/input_channel" },
+                "radar": { "$ref": "#/definitions/input_channel" },
+                "radar_far": { "$ref": "#/definitions/input_channel" }
+              },
+              "required": [
+                "detected_objects",
+                "lidar_clustering",
+                "lidar_centerpoint",
+                "lidar_centerpoint_validated",
+                "lidar_apollo",
+                "lidar_apollo_validated",
+                "lidar_pointpainitng",
+                "lidar_pointpainting_validated",
+                "camera_lidar_fusion",
+                "detection_by_tracker",
+                "radar",
+                "radar_far"
+              ]
+            }
+          },
+          "required": ["input_channels"]
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json

@@ -0,0 +1,116 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Multi Object Tracker Node",
+  "type": "object",
+  "definitions": {
+    "multi_object_tracker_node": {
+      "type": "object",
+      "properties": {
+        "car_tracker": {
+          "type": "string",
+          "description": "Tracker model for car class.",
+          "default": "multi_vehicle_tracker"
+        },
+        "truck_tracker": {
+          "type": "string",
+          "description": "Tracker model for truck class.",
+          "default": "multi_vehicle_tracker"
+        },
+        "bus_tracker": {
+          "type": "string",
+          "description": "Tracker model for bus class.",
+          "default": "multi_vehicle_tracker"
+        },
+        "trailer_tracker": {
+          "type": "string",
+          "description": "Tracker model for trailer class.",
+          "default": "multi_vehicle_tracker"
+        },
+        "pedestrian_tracker": {
+          "type": "string",
+          "description": "Tracker model for pedestrian class.",
+          "default": "pedestrian_and_bicycle_tracker"
+        },
+        "bicycle_tracker": {
+          "type": "string",
+          "description": "Tracker model for bicycle class.",
+          "default": "pedestrian_and_bicycle_tracker"
+        },
+        "motorcycle_tracker": {
+          "type": "string",
+          "description": "Tracker model for motorcycle class.",
+          "default": "pedestrian_and_bicycle_tracker"
+        },
+        "publish_rate": {
+          "type": "number",
+          "description": "Timer frequency to output with delay compensation.",
+          "default": 10.0
+        },
+        "world_frame_id": {
+          "type": "string",
+          "description": "Object kinematics definition frame.",
+          "default": "map"
+        },
+        "enable_delay_compensation": {
+          "type": "boolean",
+          "description": "If True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp.",
+          "default": false
+        },
+        "publish_processing_time": {
+          "type": "boolean",
+          "description": "Enable to publish debug message of process time information.",
+          "default": false
+        },
+        "publish_tentative_objects": {
+          "type": "boolean",
+          "description": "Enable to publish tentative tracked objects, which have lower confidence.",
+          "default": false
+        },
+        "publish_debug_markers": {
+          "type": "boolean",
+          "description": "Enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection.",
+          "default": false
+        },
+        "diagnostics_warn_delay": {
+          "type": "number",
+          "description": "Delay threshold for warning diagnostics in seconds.",
+          "default": 0.5
+        },
+        "diagnostics_error_delay": {
+          "type": "number",
+          "description": "Delay threshold for error diagnostics in seconds.",
+          "default": 1.0
+        }
+      },
+      "required": [
+        "car_tracker",
+        "truck_tracker",
+        "bus_tracker",
+        "trailer_tracker",
+        "pedestrian_tracker",
+        "bicycle_tracker",
+        "motorcycle_tracker",
+        "publish_rate",
+        "world_frame_id",
+        "enable_delay_compensation",
+        "publish_processing_time",
+        "publish_tentative_objects",
+        "publish_debug_markers",
+        "diagnostics_warn_delay",
+        "diagnostics_error_delay"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/multi_object_tracker_node"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

perception/multi_object_tracker/schema/simulation_tracker.schema.json

@@ -0,0 +1,62 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Simulation Tracker Node",
+  "type": "object",
+  "definitions": {
+    "simulation_tracker_node": {
+      "type": "object",
+      "properties": {
+        "car_tracker": {
+          "type": "string",
+          "description": "Tracker model for car class.",
+          "default": "pass_through_tracker"
+        },
+        "truck_tracker": {
+          "type": "string",
+          "description": "Tracker model for truck class.",
+          "default": "pass_through_tracker"
+        },
+        "bus_tracker": {
+          "type": "string",
+          "description": "Tracker model for bus class.",
+          "default": "pass_through_tracker"
+        },
+        "pedestrian_tracker": {
+          "type": "string",
+          "description": "Tracker model for pedestrian class.",
+          "default": "pass_through_tracker"
+        },
+        "bicycle_tracker": {
+          "type": "string",
+          "description": "Tracker model for bicycle class.",
+          "default": "pass_through_tracker"
+        },
+        "motorcycle_tracker": {
+          "type": "string",
+          "description": "Tracker model for motorcycle class.",
+          "default": "pass_through_tracker"
+        }
+      },
+      "required": [
+        "car_tracker",
+        "truck_tracker",
+        "bus_tracker",
+        "pedestrian_tracker",
+        "bicycle_tracker",
+        "motorcycle_tracker"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/simulation_tracker_node"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}