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

Signed-off-by: Yamato Ando <[email protected]>
Co-authored-by: Kotaro Yoshimoto <[email protected]>
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2 people authored and KhalilSelyan committed Jul 22, 2024
1 parent 8700f1c commit 8e61382
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4 changes: 2 additions & 2 deletions localization/autoware_pose_covariance_modifier/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -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

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Original file line number Diff line number Diff line change
Expand Up @@ -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"],
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