radar_object_tracker.schema.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "autoware_radar_object_tracker parameter",
  "type": "object",
  "definitions": {
    "autoware_radar_object_tracker ": {
      "type": "object",
      "properties": {
        "world_frame_id": {
          "type": "string",
          "description": "The frame ID of the world coordinate.",
          "default": "map"
        },
        "tracker_lifetime": {
          "type": "number",
          "description": "The lifetime of the tracker in seconds.",
          "default": 1.0
        },
        "measurement_count_threshold": {
          "type": "integer",
          "description": "The number of measurements required to publish an object.",
          "default": 3
        },
        "publish_rate": {
          "type": "number",
          "description": "The rate at which to publish the output.",
          "default": 10.0
        },
        "enable_delay_compensation": {
          "type": "boolean",
          "description": "Whether to enable delay compensation.",
          "default": true
        },
        "enable_logging": {
          "type": "boolean",
          "description": "Whether to enable logging.",
          "default": false
        },
        "logging_file_path": {
          "type": "string",
          "description": "The path to the file where logs should be written.",
          "default": "/tmp/association_log.json"
        },
        "use_distance_based_noise_filtering": {
          "type": "boolean",
          "description": "Whether to enable distance-based noise filtering.",
          "default": true
        },
        "minimum_range_threshold": {
          "type": "number",
          "description": "Minimum distance threshold for filtering in meters.",
          "default": 60.0
        },
        "use_map_based_noise_filtering": {
          "type": "boolean",
          "description": "Whether to enable map-based noise filtering.",
          "default": true
        },
        "max_distance_from_lane": {
          "type": "number",
          "description": "The maximum allowable distance from a lane for filtering, in meters.",
          "default": 5.0
        },
        "max_angle_diff_from_lane": {
          "type": "number",
          "description": "The maximum angle difference from a lane for filtering, in radians.",
          "default": 0.785398
        },
        "max_lateral_velocity": {
          "type": "number",
          "description": "The maximum lateral velocity for filtering, in meters per second.",
          "default": 7.0
        },
        "tracking_config_directory": {
          "type": "string",
          "description": "The directory containing the tracking configuration.",
          "default": "$(find-pkg-share radar_object_tracker)/config/tracking/"
        }
      },
      "required": [
        "world_frame_id",
        "tracker_lifetime",
        "measurement_count_threshold",
        "publish_rate",
        "enable_delay_compensation",
        "enable_logging",
        "logging_file_path",
        "use_distance_based_noise_filtering",
        "minimum_range_threshold",
        "use_map_based_noise_filtering",
        "max_distance_from_lane",
        "max_angle_diff_from_lane",
        "max_lateral_velocity",
        "tracking_config_directory"
      ],
      "additionalProperties": false
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/autoware_radar_object_tracker "
        }
      },
      "required": ["ros__parameters"],
      "additionalProperties": false
    }
  },
  "required": ["/**"],
  "additionalProperties": false
}