sensing-vehicle-velocity-converter-module

autowarefoundation · Nov 16, 2023 · b640972 · b640972
1 parent b52d323
commit b640972
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Showing 2 changed files with 48 additions and 4 deletions.
diff --git a/sensing/vehicle_velocity_converter/schema/vehicle_velocity_converter.json b/sensing/vehicle_velocity_converter/schema/vehicle_velocity_converter.json
@@ -0,0 +1,44 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for vehicle_velocity_converter",
+  "type": "object",
+  "definitions": {
+    "vehicle_velocity_converter": {
+      "type": "object",
+      "properties": {
+        "stddev_vx": {
+          "type": "number",
+          "default": 0.2,
+          "description": "speed scale factor (ideal value is 1.0)"
+        },
+        "frame_id": {
+          "type": "string",
+          "description": "frame id for output message."
+        },
+        "stddev_wz": {
+          "type": "number",
+          "default": 0.1,
+          "description": "standard deviation for vx."
+        },
+        "speed_scale_factor": {
+          "type": "number",
+          "default": 1.0,
+          "description": "standard deviation for yaw rate."
+        }
+      },
+      "required": ["stddev_vx", "frame_id", "stddev_wz", "speed_scale_factor"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/vehicle_velocity_converter"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp b/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
@@ -17,10 +17,10 @@
 VehicleVelocityConverter::VehicleVelocityConverter() : Node("vehicle_velocity_converter")
 {
   // set covariance value for twist with covariance msg
-  stddev_vx_ = declare_parameter("velocity_stddev_xx", 0.2);
-  stddev_wz_ = declare_parameter("angular_velocity_stddev_zz", 0.1);
-  frame_id_ = declare_parameter("frame_id", "base_link");
-  speed_scale_factor_ = declare_parameter("speed_scale_factor", 1.0);
+  stddev_vx_ = declare_parameter<double>("velocity_stddev_xx");
+  stddev_wz_ = declare_parameter<double>("angular_velocity_stddev_zz");
+  frame_id_ = declare_parameter<string>("frame_id");
+  speed_scale_factor_ = declare_parameter<double>("speed_scale_factor");
 
   vehicle_report_sub_ = create_subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>(
     "velocity_status", rclcpp::QoS{100},