From 1d32a6ee0020095e97c887dab590c7027ab5a3f8 Mon Sep 17 00:00:00 2001
From: karishma <karishma@interpl.ai>
Date: Thu, 30 Nov 2023 19:23:41 +0530
Subject: [PATCH 1/2] system/mrm_comfortable_stop_operator

Signed-off-by: karishma <karishma@interpl.ai>
---
 .../mrm_comfortablex_stop_operator.json       | 45 +++++++++++++++++++
 .../mrm_comfortable_stop_operator_core.cpp    |  8 ++--
 2 files changed, 49 insertions(+), 4 deletions(-)
 create mode 100644 system/mrm_comfortable_stop_operator/schema/mrm_comfortablex_stop_operator.json

diff --git a/system/mrm_comfortable_stop_operator/schema/mrm_comfortablex_stop_operator.json b/system/mrm_comfortable_stop_operator/schema/mrm_comfortablex_stop_operator.json
new file mode 100644
index 0000000000000..9bbf0e3fd0f4e
--- /dev/null
+++ b/system/mrm_comfortable_stop_operator/schema/mrm_comfortablex_stop_operator.json
@@ -0,0 +1,45 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for mrm_comfortable_stop_operator",
+  "type": "object",
+  "definitions": {
+    "velodyne_monitor": {
+      "type": "object",
+      "properties": {
+        "update_rate": {
+          "type": "number",
+          "default": 10,
+          "description": "Timer callback frequency [Hz]."
+        },
+        "min_acceleration": {
+          "type": "number",
+          "default": -1.0,
+          "description": "Minimum acceleration for comfortable stop [m/s^2]."
+        },
+        "max_jerk": {
+          "type": "number",
+          "default": 0.3,
+          "description": "Maximum jerk for comfortable stop [m/s^3]."
+        },
+        "min_jerk": {
+          "type": "number",
+          "default": -0.3,
+          "description": "Minimum jerk for comfortable stop [m/s^3]."
+        }
+      },
+      "required": ["update_rate", "min_acceleration", "max_jerk", "min_jerk"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/mrm_comfortable_stop_operator"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp b/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp
index 5c9562463f891..dcc8290be4701 100644
--- a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp
+++ b/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp
@@ -21,10 +21,10 @@ MrmComfortableStopOperator::MrmComfortableStopOperator(const rclcpp::NodeOptions
 : Node("mrm_comfortable_stop_operator", node_options)
 {
   // Parameter
-  params_.update_rate = static_cast<int>(declare_parameter<int>("update_rate", 1));
-  params_.min_acceleration = declare_parameter<double>("min_acceleration", -1.0);
-  params_.max_jerk = declare_parameter<double>("max_jerk", 0.3);
-  params_.min_jerk = declare_parameter<double>("min_jerk", 0.3);
+  params_.update_rate = static_cast<int>(declare_parameter<int>("update_rate"));
+  params_.min_acceleration = declare_parameter<double>("min_acceleration");
+  params_.max_jerk = declare_parameter<double>("max_jerk");
+  params_.min_jerk = declare_parameter<double>("min_jerk");
 
   // Server
   service_operation_ = create_service<tier4_system_msgs::srv::OperateMrm>(

From 9f92d7d98af32325639ad32cf059068bb448717d Mon Sep 17 00:00:00 2001
From: karishma <karishma@interpl.ai>
Date: Wed, 6 Dec 2023 16:56:27 +0530
Subject: [PATCH 2/2] mrm-comfortable-stop-operator

Signed-off-by: karishma <karishma@interpl.ai>
---
 .../schema/mrm_comfortablex_stop_operator.json                  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/mrm_comfortable_stop_operator/schema/mrm_comfortablex_stop_operator.json b/system/mrm_comfortable_stop_operator/schema/mrm_comfortablex_stop_operator.json
index 9bbf0e3fd0f4e..a8e7959fa479b 100644
--- a/system/mrm_comfortable_stop_operator/schema/mrm_comfortablex_stop_operator.json
+++ b/system/mrm_comfortable_stop_operator/schema/mrm_comfortablex_stop_operator.json
@@ -3,7 +3,7 @@
   "title": "Parameters for mrm_comfortable_stop_operator",
   "type": "object",
   "definitions": {
-    "velodyne_monitor": {
+    "mrm_comfortable_stop_operator": {
       "type": "object",
       "properties": {
         "update_rate": {