refactor(detection_by_tracker): rework parameters (#4989)

* refactor the configuration files of the node detection_by_tracker_node according to the new ROS node config guideline. update the parameter information in the README.md Signed-off-by: yuntianyi-chen <[email protected]> * style(pre-commit): autofix * revert copyright info Signed-off-by: yuntianyi-chen <[email protected]> * style(pre-commit): autofix * update config file Signed-off-by: yuntianyi-chen <[email protected]> --------- Signed-off-by: yuntianyi-chen <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Satoshi OTA <[email protected]>
autowarefoundation · Nov 29, 2023 · 9444f0c · 9444f0c
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Showing 4 changed files with 95 additions and 10 deletions.
diff --git a/perception/detection_by_tracker/CMakeLists.txt b/perception/detection_by_tracker/CMakeLists.txt
@@ -44,7 +44,8 @@ rclcpp_components_register_node(detection_by_tracker_node
   EXECUTABLE detection_by_tracker
 )
 
-ament_auto_package(INSTALL_TO_SHARE
+ament_auto_package(
+  INSTALL_TO_SHARE
   launch
   config
 )
diff --git a/perception/detection_by_tracker/README.md b/perception/detection_by_tracker/README.md
@@ -46,6 +46,17 @@ Simply looking at the overlap between the unknown object and the tracker does no
 
 ## Parameters
 
+| Name                              | Type   | Description                                                           | Default value |
+| --------------------------------- | ------ | --------------------------------------------------------------------- | ------------- |
+| `tracker_ignore_label.UNKNOWN`    | `bool` | If true, the node will ignore the tracker if its label is unknown.    | `true`        |
+| `tracker_ignore_label.CAR`        | `bool` | If true, the node will ignore the tracker if its label is CAR.        | `false`       |
+| `tracker_ignore_label.PEDESTRIAN` | `bool` | If true, the node will ignore the tracker if its label is pedestrian. | `false`       |
+| `tracker_ignore_label.BICYCLE`    | `bool` | If true, the node will ignore the tracker if its label is bicycle.    | `false`       |
+| `tracker_ignore_label.MOTORCYCLE` | `bool` | If true, the node will ignore the tracker if its label is MOTORCYCLE. | `false`       |
+| `tracker_ignore_label.BUS`        | `bool` | If true, the node will ignore the tracker if its label is bus.        | `false`       |
+| `tracker_ignore_label.TRUCK`      | `bool` | If true, the node will ignore the tracker if its label is truck.      | `false`       |
+| `tracker_ignore_label.TRAILER`    | `bool` | If true, the node will ignore the tracker if its label is TRAILER.    | `false`       |
+
 ## Assumptions / Known limits
 
 ## (Optional) Error detection and handling

diff --git a/perception/detection_by_tracker/config/detection_by_tracker.param.yaml b/perception/detection_by_tracker/config/detection_by_tracker.param.yaml
@@ -1,11 +1,10 @@
 /**:
   ros__parameters:
-    tracker_ignore_label:
-      UNKNOWN : true
-      CAR : false
-      TRUCK : false
-      BUS : false
-      TRAILER : false
-      MOTORCYCLE : false
-      BICYCLE : false
-      PEDESTRIAN : false
+    tracker_ignore_label.UNKNOWN : true
+    tracker_ignore_label.CAR : false
+    tracker_ignore_label.TRUCK : false
+    tracker_ignore_label.BUS : false
+    tracker_ignore_label.TRAILER : false
+    tracker_ignore_label.MOTORCYCLE : false
+    tracker_ignore_label.BICYCLE : false
+    tracker_ignore_label.PEDESTRIAN : false
diff --git a/perception/detection_by_tracker/schema/detection_by_tracker.schema.json b/perception/detection_by_tracker/schema/detection_by_tracker.schema.json
@@ -0,0 +1,74 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Detection By Tracker Node",
+  "type": "object",
+  "definitions": {
+    "detection_by_tracker": {
+      "type": "object",
+      "properties": {
+        "tracker_ignore_label.UNKNOWN": {
+          "type": "boolean",
+          "default": true,
+          "description": "If true, the node will ignore the tracker if its label is unknown."
+        },
+        "tracker_ignore_label.CAR": {
+          "type": "boolean",
+          "default": false,
+          "description": "If true, the node will ignore the tracker if its label is CAR."
+        },
+        "tracker_ignore_label.PEDESTRIAN": {
+          "type": "boolean",
+          "default": false,
+          "description": "If true, the node will ignore the tracker if its label is pedestrian."
+        },
+        "tracker_ignore_label.BICYCLE": {
+          "type": "boolean",
+          "default": false,
+          "description": "If true, the node will ignore the tracker if its label is bicycle."
+        },
+        "tracker_ignore_label.MOTORCYCLE": {
+          "type": "boolean",
+          "default": false,
+          "description": "If true, the node will ignore the tracker if its label is motorcycle."
+        },
+        "tracker_ignore_label.BUS": {
+          "type": "boolean",
+          "default": false,
+          "description": "If true, the node will ignore the tracker if its label is bus."
+        },
+        "tracker_ignore_label.TRUCK": {
+          "type": "boolean",
+          "default": false,
+          "description": "If true, the node will ignore the tracker if its label is truck."
+        },
+        "tracker_ignore_label.TRAILER": {
+          "type": "boolean",
+          "default": false,
+          "description": "If true, the node will ignore the tracker if its label is TRAILER."
+        }
+      },
+      "required": [
+        "tracker_ignore_label.UNKNOWN",
+        "tracker_ignore_label.CAR",
+        "tracker_ignore_label.PEDESTRIAN",
+        "tracker_ignore_label.BICYCLE",
+        "tracker_ignore_label.MOTORCYCLE",
+        "tracker_ignore_label.BUS",
+        "tracker_ignore_label.TRUCK",
+        "tracker_ignore_label.TRAILER"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/detection_by_tracker"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}