Revert "refactor: Add the classification names to yaml file"

This reverts commit 5d11b72.

Author: Motsu-san

localization/ekf_localizer/config/ekf_localizer.param.yaml

@@ -1,45 +1,38 @@
 /**:
   ros__parameters:
-    node:
-      show_debug_info: false
-      enable_yaw_bias_estimation: true
-      predict_frequency: 50.0
-      tf_rate: 50.0
-      publish_tf: true
-      extend_state_step: 50
+    show_debug_info: false
+    enable_yaw_bias_estimation: true
+    predict_frequency: 50.0
+    tf_rate: 50.0
+    publish_tf: true
+    extend_state_step: 50
 
-    pose_measurement:
-      # for Pose measurement
-      pose_additional_delay: 0.0
-      pose_measure_uncertainty_time: 0.01
-      pose_smoothing_steps: 5
-      pose_gate_dist: 10000.0
+    # for Pose measurement
+    pose_additional_delay: 0.0
+    pose_measure_uncertainty_time: 0.01
+    pose_smoothing_steps: 5
+    pose_gate_dist: 10000.0
 
-    twist_measurement:
-      # for twist measurement
-      twist_additional_delay: 0.0
-      twist_smoothing_steps: 2
-      twist_gate_dist: 10000.0
+    # for twist measurement
+    twist_additional_delay: 0.0
+    twist_smoothing_steps: 2
+    twist_gate_dist: 10000.0
 
-    process_noise:
-      # for process model
-      proc_stddev_yaw_c: 0.005
-      proc_stddev_vx_c: 10.0
-      proc_stddev_wz_c: 5.0
+    # for process model
+    proc_stddev_yaw_c: 0.005
+    proc_stddev_vx_c: 10.0
+    proc_stddev_wz_c: 5.0
 
-    simple_1d_filter_parameters:
-      #Simple1DFilter parameters
-      z_filter_proc_dev: 1.0
-      roll_filter_proc_dev: 0.01
-      pitch_filter_proc_dev: 0.01
+    #Simple1DFilter parameters
+    z_filter_proc_dev: 1.0
+    roll_filter_proc_dev: 0.01
+    pitch_filter_proc_dev: 0.01
 
-    diagnostics:
-      # for diagnostics
-      pose_no_update_count_threshold_warn: 50
-      pose_no_update_count_threshold_error: 100
-      twist_no_update_count_threshold_warn: 50
-      twist_no_update_count_threshold_error: 100
+    # for diagnostics
+    pose_no_update_count_threshold_warn: 50
+    pose_no_update_count_threshold_error: 100
+    twist_no_update_count_threshold_warn: 50
+    twist_no_update_count_threshold_error: 100
 
-    misc:
-      # for velocity measurement limitation (Set 0.0 if you want to ignore)
-      threshold_observable_velocity_mps: 0.0 # [m/s]
+    # for velocity measurement limitation (Set 0.0 if you want to ignore)
+    threshold_observable_velocity_mps: 0.0 # [m/s]

localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp

@@ -24,41 +24,36 @@ class HyperParameters
 {
 public:
   explicit HyperParameters(rclcpp::Node * node)
-  : show_debug_info(node->declare_parameter<bool>("node.show_debug_info")),
-    ekf_rate(node->declare_parameter<double>("node.predict_frequency")),
+  : show_debug_info(node->declare_parameter("show_debug_info", false)),
+    ekf_rate(node->declare_parameter("predict_frequency", 50.0)),
     ekf_dt(1.0 / std::max(ekf_rate, 0.1)),
-    tf_rate_(node->declare_parameter<double>("node.tf_rate")),
-    publish_tf_(node->declare_parameter<bool>("node.publish_tf")),
-    enable_yaw_bias_estimation(node->declare_parameter<bool>("node.enable_yaw_bias_estimation")),
-    extend_state_step(node->declare_parameter<int>("node.extend_state_step")),
+    tf_rate_(node->declare_parameter("tf_rate", 10.0)),
+    publish_tf_(node->declare_parameter("publish_tf", true)),
+    enable_yaw_bias_estimation(node->declare_parameter("enable_yaw_bias_estimation", true)),
+    extend_state_step(node->declare_parameter("extend_state_step", 50)),
     pose_frame_id(node->declare_parameter("pose_frame_id", std::string("map"))),
-    pose_additional_delay(
-      node->declare_parameter<double>("pose_measurement.pose_additional_delay")),
-    pose_gate_dist(node->declare_parameter<double>("pose_measurement.pose_gate_dist")),
-    pose_smoothing_steps(node->declare_parameter<int>("pose_measurement.pose_smoothing_steps")),
-    twist_additional_delay(
-      node->declare_parameter<double>("twist_measurement.twist_additional_delay")),
-    twist_gate_dist(node->declare_parameter<double>("twist_measurement.twist_gate_dist")),
-    twist_smoothing_steps(node->declare_parameter<int>("twist_measurement.twist_smoothing_steps")),
-    proc_stddev_vx_c(node->declare_parameter<double>("process_noise.proc_stddev_vx_c")),
-    proc_stddev_wz_c(node->declare_parameter<double>("process_noise.proc_stddev_wz_c")),
-    proc_stddev_yaw_c(node->declare_parameter<double>("process_noise.proc_stddev_yaw_c")),
-    z_filter_proc_dev(
-      node->declare_parameter<double>("simple_1d_filter_parameters.z_filter_proc_dev")),
-    roll_filter_proc_dev(
-      node->declare_parameter<double>("simple_1d_filter_parameters.roll_filter_proc_dev")),
-    pitch_filter_proc_dev(
-      node->declare_parameter<double>("simple_1d_filter_parameters.pitch_filter_proc_dev")),
+    pose_additional_delay(node->declare_parameter("pose_additional_delay", 0.0)),
+    pose_gate_dist(node->declare_parameter("pose_gate_dist", 10000.0)),
+    pose_smoothing_steps(node->declare_parameter("pose_smoothing_steps", 5)),
+    twist_additional_delay(node->declare_parameter("twist_additional_delay", 0.0)),
+    twist_gate_dist(node->declare_parameter("twist_gate_dist", 10000.0)),
+    twist_smoothing_steps(node->declare_parameter("twist_smoothing_steps", 2)),
+    proc_stddev_vx_c(node->declare_parameter("proc_stddev_vx_c", 5.0)),
+    proc_stddev_wz_c(node->declare_parameter("proc_stddev_wz_c", 1.0)),
+    proc_stddev_yaw_c(node->declare_parameter("proc_stddev_yaw_c", 0.005)),
+    z_filter_proc_dev(node->declare_parameter("z_filter_proc_dev", 1.0)),
+    roll_filter_proc_dev(node->declare_parameter("roll_filter_proc_dev", 0.01)),
+    pitch_filter_proc_dev(node->declare_parameter("pitch_filter_proc_dev", 0.01)),
     pose_no_update_count_threshold_warn(
-      node->declare_parameter<int>("diagnostics.pose_no_update_count_threshold_warn")),
+      node->declare_parameter("pose_no_update_count_threshold_warn", 50)),
     pose_no_update_count_threshold_error(
-      node->declare_parameter<int>("diagnostics.pose_no_update_count_threshold_error")),
+      node->declare_parameter("pose_no_update_count_threshold_error", 250)),
     twist_no_update_count_threshold_warn(
-      node->declare_parameter<int>("diagnostics.twist_no_update_count_threshold_warn")),
+      node->declare_parameter("twist_no_update_count_threshold_warn", 50)),
     twist_no_update_count_threshold_error(
-      node->declare_parameter<int>("diagnostics.twist_no_update_count_threshold_error")),
+      node->declare_parameter("twist_no_update_count_threshold_error", 250)),
     threshold_observable_velocity_mps(
-      node->declare_parameter<double>("misc.threshold_observable_velocity_mps"))
+      node->declare_parameter("threshold_observable_velocity_mps", 0.5))
   {
   }