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add param and schema file, edit readme
Signed-off-by: oguzkaganozt <[email protected]>
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12 changes: 12 additions & 0 deletions
12
...ion/occupancy_grid_map_outlier_filter/config/occupancy_grid_map_outlier_filter.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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| /**: | ||
| ros__parameters: | ||
| radius_search_2d_filter.search_radius: 1.0f | ||
| radius_search_2d_filter.min_points_and_distance_ratio: 400.0f | ||
| radius_search_2d_filter.min_points: 4 | ||
| radius_search_2d_filter.max_points: 70 | ||
| radius_search_2d_filter.max_filter_points_nb: 15000 | ||
| map_frame: "map" | ||
| base_link_frame: "base_link" | ||
| cost_threshold: 45 | ||
| use_radius_search_2d_filter: true | ||
| enable_debugger: false |
86 changes: 86 additions & 0 deletions
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...on/occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,86 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for occupancy_grid_map_outlier", | ||
| "type": "object", | ||
| "definitions": { | ||
| "occupancy_grid_map_outlier": { | ||
| "type": "object", | ||
| "properties": { | ||
| "radius_search_2d_filter.search_radius": { | ||
| "type": "number", | ||
| "default": 1.0, | ||
| "description": "Radius when calculating the density" | ||
| }, | ||
| "radius_search_2d_filter.min_points_and_distance_ratio": { | ||
| "type": "number", | ||
| "default": 400.0, | ||
| "description": "Threshold value of the number of point clouds per radius when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink" | ||
| }, | ||
| "radius_search_2d_filter.min_points": { | ||
| "type": "number", | ||
| "default": 4, | ||
| "description": "Minimum number of point clouds per radius" | ||
| }, | ||
| "radius_search_2d_filter.max_points": { | ||
| "type": "number", | ||
| "default": 70, | ||
| "description": "Maximum number of point clouds per radius" | ||
| }, | ||
| "radius_search_2d_filter.max_filter_points_nb": { | ||
| "type": "number", | ||
| "default": 15000, | ||
| "description": "Maximum number of point clouds to be filtered" | ||
| }, | ||
| "map_frame": { | ||
| "type": "string", | ||
| "default": "map", | ||
| "description": "map frame id" | ||
| }, | ||
| "base_link_frame": { | ||
| "type": "string", | ||
| "default": "base_link", | ||
| "description": "base link frame id" | ||
| }, | ||
| "cost_threshold": { | ||
| "type": "number", | ||
| "default": 45, | ||
| "description": "Cost threshold of occupancy grid map (0~100). 100 means 100% probability that there is an obstacle, close to 50 means that it is indistinguishable whether it is an obstacle or free space, 0 means that there is no obstacle" | ||
| }, | ||
| "use_radius_search_2d_filter": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "Whether or not to apply density-based outlier filters to objects that are judged to have low probability of occupancy on the occupancy grid map" | ||
| }, | ||
| "enable_debugger": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Whether to output the point cloud for debugging" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "radius_search_2d_filter.search_radius", | ||
| "radius_search_2d_filter.min_points_and_distance_ratio", | ||
| "radius_search_2d_filter.min_points", | ||
| "radius_search_2d_filter.max_points", | ||
| "radius_search_2d_filter.max_filter_points_nb", | ||
| "map_frame", | ||
| "base_link_frame", | ||
| "cost_threshold", | ||
| "use_radius_search_2d_filter", | ||
| "enable_debugger" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/occupancy_grid_map_outlier" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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