Fix: Modify the descriptions of parameters

Motsu-san · Motsu-san · commit e0c82f6cd580 · 2024-02-02T16:46:43.000+09:00
Signed-off-by: Motsu-san &lt;masahiro.sakamoto@tier4.jp&gt;
diff --git a/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json b/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json
@@ -7,22 +7,22 @@
             "properties": {
                 "pose_no_update_count_threshold_warn": {
                     "type": "integer",
-                    "description": "Warning threshold for pose update count.",
+                    "description": "The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
                     "default": 50
                 },
                 "pose_no_update_count_threshold_error": {
                     "type": "integer",
-                    "description": "Error threshold for pose update count.",
+                    "description": "The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
                     "default": 100
                 },
                 "twist_no_update_count_threshold_warn": {
                     "type": "integer",
-                    "description": "Warning threshold for twist update count.",
+                    "description": "The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
                     "default": 50
                 },
                 "twist_no_update_count_threshold_error": {
                     "type": "integer",
-                    "description": "Error threshold for twist update count.",
+                    "description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
                     "default": 100
                 }
             },
diff --git a/localization/ekf_localizer/schema/sub/misc.sub_schema.json b/localization/ekf_localizer/schema/sub/misc.sub_schema.json
@@ -7,7 +7,7 @@
             "properties": {
                 "threshold_observable_velocity_mps": {
                     "type": "number",
-                    "description": "Velocity threshold for observability in meters per second.",
+                    "description": "Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor [m/s] (0.0 means disabled)",
                     "default": 0.0
                 }
             },
diff --git a/localization/ekf_localizer/schema/sub/node.sub_schema.json b/localization/ekf_localizer/schema/sub/node.sub_schema.json
@@ -7,27 +7,27 @@
             "properties": {
                 "show_debug_info": {
                     "type": "boolean",
-                    "description": "Displays debug information if set to true.",
+                    "description": "Displays debug information if set to true",
                     "default": false
                 },
                 "predict_frequency": {
                     "type": "number",
-                    "description": "Frequency of prediction cycles.",
+                    "description": "Frequency of prediction cycles for filtering and publishing [Hz]",
                     "default": 50.0
                 },
                 "tf_rate": {
                     "type": "number",
-                    "description": "Frequency at which transform frames are published.",
+                    "description": "Frequency at which transform frames are published [Hz]",
                     "default": 50.0
                 },
                 "publish_tf": {
                     "type": "boolean",
-                    "description": "Determines whether transform frames are published.",
+                    "description": "Determines whether transform frames are published",
                     "default": true
                 },
                 "extend_state_step": {
                     "type": "integer",
-                    "description": "Number of steps for extending the state.",
+                    "description": "Number of max delay steps which can be dealt with in EKF. Large number increases computational cost.",
                     "default": 50
                 },
                 "enable_yaw_bias_estimation": {
diff --git a/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json b/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json
@@ -7,22 +7,22 @@
             "properties": {
                 "pose_additional_delay": {
                     "type": "number",
-                    "description": "Additional delay for pose measurements.",
+                    "description": "Additional delay for pose measurements [s]",
                     "default": 0.0
                 },
                 "pose_measure_uncertainty_time": {
                     "type": "number",
-                    "description": "Time uncertainty for pose measurements.",
+                    "description": "Time uncertainty for covariance calculation [s]",
                     "default": 0.01
                 },
                 "pose_smoothing_steps": {
                     "type": "integer",
-                    "description": "Number of steps for pose smoothing.",
+                    "description": "Number of steps for pose smoothing",
                     "default": 5
                 },
                 "pose_gate_dist": {
                     "type": "number",
-                    "description": "Gate distance for pose measurements.",
+                    "description": "Limit of Mahalanobis distance used for outliers detection",
                     "default": 10000.0
                 }
             },
diff --git a/localization/ekf_localizer/schema/sub/process_noise.sub_schema.json b/localization/ekf_localizer/schema/sub/process_noise.sub_schema.json
@@ -5,20 +5,20 @@
         "process_noise": {
             "type": "object",
             "properties": {
-                "proc_stddev_yaw_c": {
-                    "type": "number",
-                    "description": "Standard deviation of yaw in the process model.",
-                    "default": 0.005
-                },
                 "proc_stddev_vx_c": {
                     "type": "number",
-                    "description": "Standard deviation of linear velocity in the process model.",
+                    "description": "Standard deviation of process noise in time differentiation expression of linear velocity x, noise for d_vx = 0",
                     "default": 10.0
                 },
                 "proc_stddev_wz_c": {
                     "type": "number",
-                    "description": "Standard deviation of angular velocity in the process model.",
+                    "description": "Standard deviation of process noise in time differentiation expression of angular velocity z, noise for d_wz = 0",
                     "default": 5.0
+                },
+                "proc_stddev_yaw_c": {
+                    "type": "number",
+                    "description": "Standard deviation of process noise in time differentiation expression of yaw, noise for d_yaw = omega",
+                    "default": 0.005
                 }
             },
             "required": [
diff --git a/localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json b/localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json
@@ -7,17 +7,17 @@
             "properties": {
                 "z_filter_proc_dev": {
                     "type": "number",
-                    "description": "Process deviation for the Z-axis filter.",
+                    "description": "Simple1DFilter - Z filter process deviation",
                     "default": 1.0
                 },
                 "roll_filter_proc_dev": {
                     "type": "number",
-                    "description": "Process deviation for the roll filter.",
+                    "description": "Simple1DFilter - Roll filter process deviation",
                     "default": 0.01
                 },
                 "pitch_filter_proc_dev": {
                     "type": "number",
-                    "description": "Process deviation for the pitch filter.",
+                    "description": "Simple1DFilter - Pitch filter process deviation",
                     "default": 0.01
                 }
             },
diff --git a/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json b/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json
@@ -7,17 +7,17 @@
             "properties": {
                 "twist_additional_delay": {
                     "type": "number",
-                    "description": "Additional delay for twist measurements.",
+                    "description": "Additional delay for twist calculation [s]",
                     "default": 0.0
                 },
                 "twist_smoothing_steps": {
                     "type": "integer",
-                    "description": "Number of steps for twist smoothing.",
+                    "description": "Number of steps for twist smoothing",
                     "default": 2
                 },
                 "twist_gate_dist": {
                     "type": "number",
-                    "description": "Gate distance for twist measurements.",
+                    "description": "Limit of Mahalanobis distance used for outliers detection",
                     "default": 10000.0
                 }
             },

Original file line number	Diff line number	Diff line change
`@@ -7,7 +7,7 @@`
`7`	`7`	`"properties": {`
`8`	`8`	`"threshold_observable_velocity_mps": {`
`9`	`9`	`"type": "number",`
`10`		`- "description": "Velocity threshold for observability in meters per second.",`
	`10`	`+ "description": "Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor [m/s] (0.0 means disabled)",`
`11`	`11`	`"default": 0.0`
`12`	`12`	`}`
`13`	`13`	`},`