From 9fd6d551e9609e5f0bc020b253cf44dd79f47708 Mon Sep 17 00:00:00 2001
From: oguzkaganozt <oguzkaganozt@gmail.com>
Date: Mon, 10 Jun 2024 13:15:57 +0300
Subject: [PATCH] refactor(sensing/image_transport_decompressor): rework
 parameters (#6746)

* add param, schema file, update readme

Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>

* style(pre-commit): autofix

---------

Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
---
 .../image_transport_decompressor/README.md    |  2 ++
 .../image_transport_decompressor.param.yaml   |  3 ++
 .../image_transport_decompressor.launch.xml   |  2 ++
 .../image_transport_decompressor.schema.json  | 30 +++++++++++++++++++
 .../src/image_transport_decompressor.cpp      |  2 +-
 5 files changed, 38 insertions(+), 1 deletion(-)
 create mode 100644 sensing/image_transport_decompressor/config/image_transport_decompressor.param.yaml
 create mode 100644 sensing/image_transport_decompressor/schema/image_transport_decompressor.schema.json

diff --git a/sensing/image_transport_decompressor/README.md b/sensing/image_transport_decompressor/README.md
index 1a2b18f91c17a..97e0178eb00d6 100644
--- a/sensing/image_transport_decompressor/README.md
+++ b/sensing/image_transport_decompressor/README.md
@@ -22,6 +22,8 @@ The `image_transport_decompressor` is a node that decompresses images.
 
 ## Parameters
 
+{{ json_to_markdown("sensing/image_transport_decompressor/schema/image_transport_decompressor.schema.json") }}
+
 ## Assumptions / Known limits
 
 ## (Optional) Error detection and handling
diff --git a/sensing/image_transport_decompressor/config/image_transport_decompressor.param.yaml b/sensing/image_transport_decompressor/config/image_transport_decompressor.param.yaml
new file mode 100644
index 0000000000000..05b0f0b64a09a
--- /dev/null
+++ b/sensing/image_transport_decompressor/config/image_transport_decompressor.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    encoding: default
diff --git a/sensing/image_transport_decompressor/launch/image_transport_decompressor.launch.xml b/sensing/image_transport_decompressor/launch/image_transport_decompressor.launch.xml
index f608d504733bf..61296531f17f2 100644
--- a/sensing/image_transport_decompressor/launch/image_transport_decompressor.launch.xml
+++ b/sensing/image_transport_decompressor/launch/image_transport_decompressor.launch.xml
@@ -1,9 +1,11 @@
 <launch>
   <arg name="input_topic_name" default="/input/compressed_image"/>
   <arg name="output_topic_name" default="/output/raw_image"/>
+  <arg name="param_file" default="$(find-pkg-share image_transport_decompressor)/config/image_transport_decompressor.param.yaml"/>
 
   <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="$(anon image_transport_decompressor_node)">
     <remap from="~/input/compressed_image" to="$(var input_topic_name)"/>
     <remap from="~/output/raw_image" to="$(var output_topic_name)"/>
+    <param from="$(var param_file)" allow_substs="true"/>
   </node>
 </launch>
diff --git a/sensing/image_transport_decompressor/schema/image_transport_decompressor.schema.json b/sensing/image_transport_decompressor/schema/image_transport_decompressor.schema.json
new file mode 100644
index 0000000000000..fdbe1bcd721dd
--- /dev/null
+++ b/sensing/image_transport_decompressor/schema/image_transport_decompressor.schema.json
@@ -0,0 +1,30 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Image Transport Decompressor",
+  "type": "object",
+  "definitions": {
+    "image_transport_decompressor": {
+      "type": "object",
+      "properties": {
+        "encoding": {
+          "type": "string",
+          "description": "The image encoding to use for the decompressed image",
+          "default": "default"
+        }
+      },
+      "required": ["encoding"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/image_transport_decompressor"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/sensing/image_transport_decompressor/src/image_transport_decompressor.cpp b/sensing/image_transport_decompressor/src/image_transport_decompressor.cpp
index 4244facf7af12..ffc1e5865c856 100644
--- a/sensing/image_transport_decompressor/src/image_transport_decompressor.cpp
+++ b/sensing/image_transport_decompressor/src/image_transport_decompressor.cpp
@@ -69,7 +69,7 @@ namespace image_preprocessor
 {
 ImageTransportDecompressor::ImageTransportDecompressor(const rclcpp::NodeOptions & node_options)
 : rclcpp::Node("image_transport_decompressor", node_options),
-  encoding_(declare_parameter("encoding", "default"))
+  encoding_(declare_parameter<std::string>("encoding"))
 {
   compressed_image_sub_ = create_subscription<sensor_msgs::msg::CompressedImage>(
     "~/input/compressed_image", rclcpp::SensorDataQoS(),