gnss_poser.schema.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for Gnss Poser Node",
  "type": "object",
  "definitions": {
    "gnss_poser": {
      "type": "object",
      "properties": {
        "base_frame": {
          "type": "string",
          "default": "base_link",
          "description": "frame id for base_frame"
        },
        "gnss_base_frame": {
          "type": "string",
          "default": "gnss_base_link",
          "description": "frame id for gnss_base_frame"
        },
        "map_frame": {
          "type": "string",
          "default": "map",
          "description": "frame id for map_frame"
        },
        "use_gnss_ins_orientation": {
          "type": "boolean",
          "default": "true",
          "description": "use Gnss-Ins orientation"
        },
        "gnss_pose_pub_method": {
          "type": "integer",
          "default": "0",
          "minimum": 0,
          "maximum": 2,
          "description": "0: Instant Value 1: Average Value 2: Median Value. If 0 is chosen buffer_epoch parameter loses affect."
        },
        "buff_epoch": {
          "type": "integer",
          "default": "1",
          "minimum": 0,
          "description": "Buffer epoch"
        }
      },
      "required": [
        "base_frame",
        "gnss_base_frame",
        "map_frame",
        "use_gnss_ins_orientation",
        "gnss_pose_pub_method",
        "buff_epoch"
      ]
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/gnss_poser"
        }
      },
      "required": ["ros__parameters"]
    }
  },
  "required": ["/**"]
}