diff --git a/system/mrm_emergency_stop_operator/schema/mrm_emergency_stop_operator.json b/system/mrm_emergency_stop_operator/schema/mrm_emergency_stop_operator.json new file mode 100644 index 0000000000000..6ce5e06c824ce --- /dev/null +++ b/system/mrm_emergency_stop_operator/schema/mrm_emergency_stop_operator.json @@ -0,0 +1,40 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for mrm_emergency_stop_operator", + "type": "object", + "definitions": { + "mrm_emergency_stop_operator": { + "type": "object", + "properties": { + "update_rate": { + "type": "number", + "default": 30, + "description": "Timer callback frequency [Hz]." + }, + "target_acceleration": { + "type": "number", + "default": -2.5, + "description": "Target acceleration for emergency stop [m/s^2]." + }, + "target_jerk": { + "type": "number", + "default": -1.5, + "description": "Target jerk for emergency stop [m/s^3] ." + } + }, + "required": ["update_rate", "target_jerk", "target_acceleration"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/mrm_emergency_stop_operator" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp b/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp index 9ee9d7a685df3..efb73cedee4e3 100644 --- a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp +++ b/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp @@ -23,9 +23,9 @@ MrmEmergencyStopOperator::MrmEmergencyStopOperator(const rclcpp::NodeOptions & n : Node("mrm_emergency_stop_operator", node_options) { // Parameter - params_.update_rate = static_cast(declare_parameter("update_rate", 30)); - params_.target_acceleration = declare_parameter("target_acceleration", -2.5); - params_.target_jerk = declare_parameter("target_jerk", -1.5); + params_.update_rate = static_cast(declare_parameter("update_rate")); + params_.target_acceleration = declare_parameter("target_acceleration"); + params_.target_jerk = declare_parameter("target_jerk"); // Subscriber sub_control_cmd_ = create_subscription(