fix(pose_covariance_modifier): fix json schema (#7323)

fix json schema Signed-off-by: Yamato Ando <[email protected]> Co-authored-by: Kotaro Yoshimoto <[email protected]>
autowarefoundation · Jun 12, 2024 · 67bfa58 · 67bfa58
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diff --git a/localization/autoware_pose_covariance_modifier/README.md b/localization/autoware_pose_covariance_modifier/README.md
@@ -156,8 +156,8 @@ the [pose_twist_estimator.launch.xml](../../launch/tier4_localization_launch/lau
 The parameters are set
 in [config/pose_covariance_modifier.param.yaml](config/pose_covariance_modifier.param.yaml) .
 
-{{ json_to_markdown("
-localization/autoware_pose_covariance_modifier/schema/pose_covariance_modifier.schema.json") }}
+{{ json_to_markdown(
+  "localization/autoware_pose_covariance_modifier/schema/pose_covariance_modifier.schema.json") }}
 
 ## FAQ
 

diff --git a/localization/autoware_pose_covariance_modifier/schema/pose_covariance_modifier.schema.json b/localization/autoware_pose_covariance_modifier/schema/pose_covariance_modifier.schema.json
@@ -2,66 +2,68 @@
   "$schema": "http://json-schema.org/draft-07/schema#",
   "title": "Pose Covariance Modifier Node Parameters",
   "type": "object",
-  "actual_parameters": {
-    "type": "object",
-    "properties": {
-      "threshold_gnss_stddev_yaw_deg_max": {
-        "type": "number",
-        "default": 0.3,
-        "description": "If GNSS yaw standard deviation values are larger than this, trust only NDT"
-      },
-      "threshold_gnss_stddev_z_max": {
-        "type": "number",
-        "default": 0.1,
-        "description": "If GNSS position Z standard deviation values are larger than this, trust only NDT"
-      },
-      "threshold_gnss_stddev_xy_bound_lower": {
-        "type": "number",
-        "default": 0.1,
-        "description": "If GNSS position XY standard deviation values are lower than this, trust only GNSS"
-      },
-      "threshold_gnss_stddev_xy_bound_upper": {
-        "type": "number",
-        "default": 0.25,
-        "description": "If GNSS position XY standard deviation values are higher than this, trust only NDT"
-      },
-      "ndt_std_dev_bound_lower": {
-        "type": "number",
-        "default": 0.15,
-        "description": "Lower bound value for standard deviation of NDT positions (x, y, z) when used with GNSS"
-      },
-      "ndt_std_dev_bound_upper": {
-        "type": "number",
-        "default": 0.3,
-        "description": "Upper bound value for standard deviation of NDT positions (x, y, z) when used with GNSS"
-      },
-      "gnss_pose_timeout_sec": {
-        "type": "number",
-        "default": 1.0,
-        "description": "If GNSS data is not received for this duration, trust only NDT"
+  "definitions": {
+    "pose_covariance_modifier": {
+      "type": "object",
+      "properties": {
+        "threshold_gnss_stddev_yaw_deg_max": {
+          "type": "number",
+          "default": 0.3,
+          "description": "If GNSS yaw standard deviation values are larger than this, trust only NDT"
+        },
+        "threshold_gnss_stddev_z_max": {
+          "type": "number",
+          "default": 0.1,
+          "description": "If GNSS position Z standard deviation values are larger than this, trust only NDT"
+        },
+        "threshold_gnss_stddev_xy_bound_lower": {
+          "type": "number",
+          "default": 0.1,
+          "description": "If GNSS position XY standard deviation values are lower than this, trust only GNSS"
+        },
+        "threshold_gnss_stddev_xy_bound_upper": {
+          "type": "number",
+          "default": 0.25,
+          "description": "If GNSS position XY standard deviation values are higher than this, trust only NDT"
+        },
+        "ndt_std_dev_bound_lower": {
+          "type": "number",
+          "default": 0.15,
+          "description": "Lower bound value for standard deviation of NDT positions (x, y, z) when used with GNSS"
+        },
+        "ndt_std_dev_bound_upper": {
+          "type": "number",
+          "default": 0.3,
+          "description": "Upper bound value for standard deviation of NDT positions (x, y, z) when used with GNSS"
+        },
+        "gnss_pose_timeout_sec": {
+          "type": "number",
+          "default": 1.0,
+          "description": "If GNSS data is not received for this duration, trust only NDT"
+        },
+        "enable_debug_topics": {
+          "type": "boolean",
+          "default": true,
+          "description": "Publish additional debug topics"
+        }
       },
-      "enable_debug_topics": {
-        "type": "boolean",
-        "default": true,
-        "description": "Publish additional debug topics"
-      }
-    },
-    "required": [
-      "threshold_gnss_stddev_yaw_deg_max",
-      "threshold_gnss_stddev_z_max",
-      "threshold_gnss_stddev_xy_bound_lower",
-      "threshold_gnss_stddev_xy_bound_upper",
-      "gnss_pose_timeout_sec",
-      "enable_debug_topics"
-    ],
-    "additionalProperties": false
+      "required": [
+        "threshold_gnss_stddev_yaw_deg_max",
+        "threshold_gnss_stddev_z_max",
+        "threshold_gnss_stddev_xy_bound_lower",
+        "threshold_gnss_stddev_xy_bound_upper",
+        "gnss_pose_timeout_sec",
+        "enable_debug_topics"
+      ],
+      "additionalProperties": false
+    }
   },
   "properties": {
     "/**": {
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/actual_parameters"
+          "$ref": "#/definitions/pose_covariance_modifier"
         }
       },
       "required": ["ros__parameters"],