localization/ekf_localizer/schema/ekf_localizer.schema.json

@@ -1,52 +1,56 @@
 {
-  "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "EKF Localizer Configuration",
-  "type": "object",
-  "properties": {
-    "/**": {
-      "type": "object",
-      "properties": {
-        "ros__parameters": {
-          "type": "object",
-          "properties": {
-            "node": {
-              "$ref": "sub/node.sub_schema.json#/definitions/node"
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "EKF Localizer Configuration",
+    "type": "object",
+    "properties": {
+        "/**": {
+            "type": "object",
+            "properties": {
+                "ros__parameters": {
+                    "type": "object",
+                    "properties": {
+                        "node": {
+                            "$ref": "sub/node.sub_schema.json#/definitions/node"
+                        },
+                        "pose_measurement": {
+                            "$ref": "sub/pose_measurement.sub_schema.json#/definitions/pose_measurement"
+                        },
+                        "twist_measurement": {
+                            "$ref": "sub/twist_measurement.sub_schema.json#/definitions/twist_measurement"
+                        },
+                        "process_noise": {
+                            "$ref": "sub/process_noise.sub_schema.json#/definitions/process_noise"
+                        },
+                        "simple_1d_filter_parameters": {
+                            "$ref": "sub/simple_1d_filter_parameters.sub_schema.json#/definitions/simple_1d_filter_parameters"
+                        },
+                        "diagnostics": {
+                            "$ref": "sub/diagnostics.sub_schema.json#/definitions/diagnostics"
+                        },
+                        "misc": {
+                            "$ref": "sub/misc.sub_schema.json#/definitions/misc"
+                        }
+                    },
+                    "required": [
+                        "node",
+                        "pose_measurement",
+                        "twist_measurement",
+                        "process_noise",
+                        "simple_1d_filter_parameters",
+                        "diagnostics",
+                        "misc"
+                    ],
+                    "additionalProperties": false
+                }
             },
-            "pose_measurement": {
-              "$ref": "sub/pose_measurement.sub_schema.json#/definitions/pose_measurement"
-            },
-            "twist_measurement": {
-              "$ref": "sub/twist_measurement.sub_schema.json#/definitions/twist_measurement"
-            },
-            "process_noise": {
-              "$ref": "sub/process_noise.sub_schema.json#/definitions/process_noise"
-            },
-            "simple_1d_filter_parameters": {
-              "$ref": "sub/simple_1d_filter_parameters.sub_schema.json#/definitions/simple_1d_filter_parameters"
-            },
-            "diagnostics": {
-              "$ref": "sub/diagnostics.sub_schema.json#/definitions/diagnostics"
-            },
-            "misc": {
-              "$ref": "sub/misc.sub_schema.json#/definitions/misc"
-            }
-          },
-          "required": [
-            "node",
-            "pose_measurement",
-            "twist_measurement",
-            "process_noise",
-            "simple_1d_filter_parameters",
-            "diagnostics",
-            "misc"
-          ],
-          "additionalProperties": false
+            "required": [
+                "ros__parameters"
+            ],
+            "additionalProperties": false
         }
-      },
-      "required": ["ros__parameters"],
-      "additionalProperties": false
-    }
-  },
-  "required": ["/**"],
-  "additionalProperties": false
+    },
+    "required": [
+        "/**"
+    ],
+    "additionalProperties": false
 }

localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json

@@ -0,0 +1,38 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "EKF Localizer Configuration for Diagnostics",
+    "definitions": {
+        "diagnostics": {
+            "type": "object",
+            "properties": {
+                "pose_no_update_count_threshold_warn": {
+                    "type": "integer",
+                    "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": "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": "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": "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
+                }
+            },
+            "required": [
+                "pose_no_update_count_threshold_warn",
+                "pose_no_update_count_threshold_error",
+                "twist_no_update_count_threshold_warn",
+                "twist_no_update_count_threshold_error"
+            ],
+            "additionalProperties": false
+        }
+    }
+}

localization/ekf_localizer/schema/sub/misc.sub_schema.json

@@ -0,0 +1,20 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "EKF Localizer Configuration for MISC",
+    "definitions": {
+        "misc": {
+            "type": "object",
+            "properties": {
+                "threshold_observable_velocity_mps": {
+                    "type": "number",
+                    "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
+                }
+            },
+            "required": [
+                "threshold_observable_velocity_mps"
+            ],
+            "additionalProperties": false
+        }
+    }
+}

localization/ekf_localizer/schema/sub/node.sub_schema.json

@@ -0,0 +1,50 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "EKF Localizer Configuration for node",
+    "definitions": {
+        "node": {
+            "type": "object",
+            "properties": {
+                "show_debug_info": {
+                    "type": "boolean",
+                    "description": "Flag to display debug info",
+                    "default": false
+                },
+                "predict_frequency": {
+                    "type": "number",
+                    "description": "Frequency for filtering and publishing [Hz]",
+                    "default": 50.0
+                },
+                "tf_rate": {
+                    "type": "number",
+                    "description": "Frequency for tf broadcasting [Hz]",
+                    "default": 50.0
+                },
+                "publish_tf": {
+                    "type": "boolean",
+                    "description": "Whether to publish tf",
+                    "default": true
+                },
+                "extend_state_step": {
+                    "type": "integer",
+                    "description": "Max delay step which can be dealt with in EKF. Large number increases computational cost.",
+                    "default": 50
+                },
+                "enable_yaw_bias_estimation": {
+                    "type": "boolean",
+                    "description": "Flag to enable yaw bias estimation",
+                    "default": true
+                }
+            },
+            "required": [
+                "show_debug_info",
+                "predict_frequency",
+                "tf_rate",
+                "publish_tf",
+                "extend_state_step",
+                "enable_yaw_bias_estimation"
+            ],
+            "additionalProperties": false
+        }
+    }
+}

localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json

@@ -0,0 +1,38 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "EKF Localizer Configuration for Pose Measurement",
+    "definitions": {
+        "pose_measurement": {
+            "type": "object",
+            "properties": {
+                "pose_additional_delay": {
+                    "type": "number",
+                    "description": "Additional delay time for pose measurement [s]",
+                    "default": 0.0
+                },
+                "pose_measure_uncertainty_time": {
+                    "type": "number",
+                    "description": "Measured time uncertainty used for covariance calculation [s]",
+                    "default": 0.01
+                },
+                "pose_smoothing_steps": {
+                    "type": "integer",
+                    "description": "A value for smoothing steps",
+                    "default": 5
+                },
+                "pose_gate_dist": {
+                    "type": "number",
+                    "description": "Limit of Mahalanobis distance used for outliers detection",
+                    "default": 10000.0
+                }
+            },
+            "required": [
+                "pose_additional_delay",
+                "pose_measure_uncertainty_time",
+                "pose_smoothing_steps",
+                "pose_gate_dist"
+            ],
+            "additionalProperties": false
+        }
+    }
+}