feat(autoware_pointcloud_preprocessor): update the readme file and schema file

perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json

@@ -1,9 +1,9 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "Parameters for occupancy_grid_map_outlier",
+  "title": "autoware_occupancy_grid_map_outlier_filter parameters",
   "type": "object",
   "definitions": {
-    "occupancy_grid_map_outlier": {
+    "occupancy_grid_map_outlier_filter": {
       "type": "object",
       "properties": {
         "radius_search_2d_filter.search_radius": {
@@ -76,7 +76,7 @@
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/definitions/occupancy_grid_map_outlier"
+          "$ref": "#/definitions/occupancy_grid_map_outlier_filter"
         }
       },
       "required": ["ros__parameters"]

sensing/autoware_pointcloud_preprocessor/README.md

@@ -43,16 +43,23 @@ Detail description of each filter's algorithm is in the following links.
 
 ## Parameters
 
-### Node Parameters
-
-| Name               | Type   | Default Value | Description                           |
-| ------------------ | ------ | ------------- | ------------------------------------- |
-| `input_frame`      | string | " "           | input frame id                        |
-| `output_frame`     | string | " "           | output frame id                       |
-| `max_queue_size`   | int    | 5             | max queue size of input/output topics |
-| `use_indices`      | bool   | false         | flag to use pointcloud indices        |
-| `latched_indices`  | bool   | false         | flag to latch pointcloud indices      |
-| `approximate_sync` | bool   | false         | flag to use approximate sync option   |
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/approximate_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_Filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pointcloud_accumulator_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/radius_search_2d_outlier_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter_node.schema.json") }}
 
 ## Assumptions / Known limits
 

sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json

@@ -1,93 +1,93 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "Parameters for Blockage Diag Node",
+  "title": "autoware_pointcloud_preprocessor parameters",
   "type": "object",
   "definitions": {
-    "blockage_diag": {
+    "blockage_diag_node": {
       "type": "object",
       "properties": {
         "blockage_ratio_threshold": {
           "type": "number",
           "description": "The threshold of blockage area ratio. If the blockage value exceeds this threshold, the diagnostic state will be set to ERROR.",
-          "default": "0.1",
+          "default": 0.1,
           "minimum": 0
         },
         "blockage_count_threshold": {
-          "type": "number",
+          "type": "integer",
           "description": "The threshold of number continuous blockage frames",
-          "default": "50",
+          "default": 50,
           "minimum": 0
         },
         "blockage_buffering_frames": {
           "type": "integer",
           "description": "The number of buffering about blockage detection [range:1-200]",
-          "default": "2",
+          "default": 2,
           "minimum": 1,
           "maximum": 200
         },
         "blockage_buffering_interval": {
           "type": "integer",
           "description": "The interval of buffering about blockage detection",
-          "default": "1",
+          "default": 1,
           "minimum": 0
         },
         "enable_dust_diag": {
           "type": "boolean",
-          "description": "enable dust diagnostic",
-          "default": "false"
+          "description": "Enable dust diagnostic",
+          "default": false
         },
         "publish_debug_image": {
           "type": "boolean",
-          "description": "publish debug image",
-          "default": "false"
+          "description": "Publish debug image",
+          "default": false
         },
         "dust_ratio_threshold": {
           "type": "number",
           "description": "The threshold of dusty area ratio",
-          "default": "0.2",
+          "default": 0.2,
           "minimum": 0
         },
         "dust_count_threshold": {
           "type": "integer",
           "description": "The threshold of number continuous frames include dusty area",
-          "default": "10",
+          "default": 10,
           "minimum": 0
         },
         "dust_kernel_size": {
           "type": "integer",
           "description": "The kernel size of morphology processing in dusty area detection",
-          "default": "2",
+          "default": 2,
           "minimum": 0
         },
         "dust_buffering_frames": {
           "type": "integer",
           "description": "The number of buffering about dusty area detection [range:1-200]",
-          "default": "10",
+          "default": 10,
           "minimum": 1,
           "maximum": 200
         },
         "dust_buffering_interval": {
           "type": "integer",
           "description": "The interval of buffering about dusty area detection",
-          "default": "1",
+          "default": 1,
           "minimum": 0
         },
         "max_distance_range": {
           "type": "number",
           "description": "Maximum view range for the LiDAR",
-          "default": "200.0",
+          "default": 200.0,
           "minimum": 0
         },
         "horizontal_resolution": {
           "type": "number",
           "description": "The horizontal resolution of depth map image [deg/pixel]",
-          "default": "0.4",
+          "default": 0.4,
           "minimum": 0
         },
         "blockage_kernel": {
           "type": "integer",
           "description": "The kernel size of morphology processing the detected blockage area",
-          "default": "10",
+          "default": 10,
           "minimum": 0
         },
         "angle_range": {
@@ -105,18 +105,18 @@
         "vertical_bins": {
           "type": "integer",
           "description": "The LiDAR channel",
-          "default": "40",
+          "default": 40,
           "minimum": 0
         },
         "is_channel_order_top2down": {
           "type": "boolean",
           "description": "If the lidar channels are indexed from top to down",
-          "default": "true"
+          "default": true
         },
         "horizontal_ring_id": {
           "type": "integer",
           "description": "The id of horizontal ring of the LiDAR",
-          "default": "18",
+          "default": 18,
           "minimum": 0
         }
       },
@@ -148,7 +148,7 @@
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/definitions/blockage_diag"
+          "$ref": "#/definitions/blockage_diag_node"
         }
       },
       "required": ["ros__parameters"],

sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json

@@ -1,37 +1,37 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "Parameters for Passthrough Filter UInt16 Node",
+  "title": "autoware_pointcloud_preprocessor parameters",
   "type": "object",
   "definitions": {
-    "passthrough_filter_uint16": {
+    "passthrough_filter_uint16_node": {
       "type": "object",
       "properties": {
         "filter_limit_min": {
           "type": "integer",
-          "description": "minimum allowed field value",
-          "default": "0",
+          "description": "Minimum allowed field value.",
+          "default": 0,
           "minimum": 0
         },
         "filter_limit_max": {
           "type": "integer",
-          "description": "maximum allowed field value",
-          "default": "127",
+          "description": "Maximum allowed field value.",
+          "default": 127,
           "minimum": 0
         },
         "filter_field_name": {
           "type": "string",
-          "description": "filtering field name",
+          "description": "Filtering field name.",
           "default": "channel"
         },
         "keep_organized": {
           "type": "boolean",
-          "description": "flag to keep indices structure",
-          "default": "false"
+          "description": "Flag to keep the indices structure intact after filtering.",
+          "default": false
         },
         "filter_limit_negative": {
           "type": "boolean",
-          "description": "flag to return whether the data is inside limit or not",
-          "default": "false"
+          "description": "Flag to determine whether to filter inside or outside the given limits.",
+          "default": false
         }
       },
       "required": [
@@ -45,17 +45,10 @@
     }
   },
   "properties": {
-    "/**": {
-      "type": "object",
-      "properties": {
-        "ros__parameters": {
-          "$ref": "#/definitions/passthrough_filter_uint16"
-        }
-      },
-      "required": ["ros__parameters"],
-      "additionalProperties": false
+    "ros__parameters": {
+      "$ref": "#/definitions/passthrough_filter_uint16_node"
     }
   },
-  "required": ["/**"],
+  "required": ["ros__parameters"],
   "additionalProperties": false
 }

sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json

@@ -1,46 +1,39 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "Parameters for Pickup Based Voxel Grid Downsample Filter Node",
+  "title": "autoware_pointcloud_preprocessor parameters",
   "type": "object",
   "definitions": {
-    "pickup_based_voxel_grid_downsample_filter": {
+    "pickup_based_voxel_grid_downsample_filter_node": {
       "type": "object",
       "properties": {
         "voxel_size_x": {
           "type": "number",
-          "description": "voxel size along the x-axis [m]",
-          "default": "1.0",
-          "exclusiveMinimum": 0.0
+          "description": "Voxel size along the x-axis [m].",
+          "default": 1.0,
+          "minimum": 0.0
         },
         "voxel_size_y": {
           "type": "number",
-          "description": "voxel size along the y-axis [m]",
-          "default": "1.0",
-          "exclusiveMinimum": 0.0
+          "description": "Voxel size along the y-axis [m].",
+          "default": 1.0,
+          "minimum": 0.0
         },
         "voxel_size_z": {
           "type": "number",
-          "description": "voxel size along the z-axis [m]",
-          "default": "1.0",
-          "exclusiveMinimum": 0.0
+          "description": "Voxel size along the z-axis [m].",
+          "default": 1.0,
+          "minimum": 0.0
         }
       },
       "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"],
       "additionalProperties": false
     }
   },
   "properties": {
-    "/**": {
-      "type": "object",
-      "properties": {
-        "ros__parameters": {
-          "$ref": "#/definitions/pickup_based_voxel_grid_downsample_filter"
-        }
-      },
-      "required": ["ros__parameters"],
-      "additionalProperties": false
+    "ros__parameters": {
+      "$ref": "#/definitions/pickup_based_voxel_grid_downsample_filter_node"
     }
   },
-  "required": ["/**"],
+  "required": ["ros__parameters"],
   "additionalProperties": false
 }