mrm_handler.schema.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for mrm handler",
  "type": "object",
  "definitions": {
    "mrm_handler": {
      "type": "object",
      "properties": {
        "update_rate": {
          "type": "integer",
          "description": "Timer callback period.",
          "default": 10
        },
        "timeout_operation_mode_availability": {
          "type": "number",
          "description": "If the input `operation_mode_availability` topic cannot be received for more than `timeout_operation_mode_availability`, vehicle will make an emergency stop.",
          "default": 0.5
        },
        "use_emergency_holding": {
          "type": "boolean",
          "description": "If this parameter is true, the handler does not recover to the NORMAL state.",
          "default": false
        },
        "timeout_emergency_recovery": {
          "type": "number",
          "description": "If the duration of the EMERGENCY state is longer than `timeout_emergency_recovery`, it does not recover to the NORMAL state.",
          "default": 5.0
        },
        "use_parking_after_stopped": {
          "type": "boolean",
          "description": "If this parameter is true, it will publish PARKING shift command.",
          "default": "false"
        },
        "use_pull_over": {
          "type": "boolean",
          "description": "If this parameter is true, operate pull over when latent faults occur.",
          "default": "false"
        },
        "use_comfortable_stop": {
          "type": "boolean",
          "description": "If this parameter is true, operate comfortable stop when latent faults occur.",
          "default": "false"
        },
        "turning_hazard_on": {
          "type": "object",
          "properties": {
            "emergency": {
              "type": "boolean",
              "description": "If this parameter is true, hazard lamps will be turned on during emergency state.",
              "default": "true"
            }
          },
          "required": ["emergency"]
        }
      },
      "required": [
        "update_rate",
        "timeout_operation_mode_availability",
        "use_emergency_holding",
        "timeout_emergency_recovery",
        "use_parking_after_stopped",
        "use_pull_over",
        "use_comfortable_stop",
        "turning_hazard_on"
      ],
      "additionalProperties": false
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/mrm_handler"
        }
      },
      "required": ["ros__parameters"],
      "additionalProperties": false
    }
  },
  "required": ["/**"],
  "additionalProperties": false
}