From baa923e969feef550abe3d52bbeaf32dfefb3db1 Mon Sep 17 00:00:00 2001
From: Kasper Mecklenburg <30662532+kaspermeck-arm@users.noreply.github.com>
Date: Thu, 7 Mar 2024 05:30:27 -0800
Subject: [PATCH] refactor(radar_tracks_msgs_converter): rework parameters
 (#6533)

* refactor(radar_tracks_msgs_converter)

Rework parameters

Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
Change-Id: If28e9c97bc6db3b522c680f215b3f8cb95ec58b7

* fix: restore parameter description and make json schema description simpler

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

* style(pre-commit): autofix

* Updated param file path

Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
Change-Id: Ic6b6fd98ba2c0e2a5510ff08cf563877d1205bb9

---------

Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../radar_tracks_msgs_converter/README.md     |  6 ++
 .../radar_tracks_msgs_converter.schema.json   | 57 +++++++++++++++++++
 2 files changed, 63 insertions(+)
 create mode 100644 perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json

diff --git a/perception/radar_tracks_msgs_converter/README.md b/perception/radar_tracks_msgs_converter/README.md
index b55755fb96f92..e976e342e3d9f 100644
--- a/perception/radar_tracks_msgs_converter/README.md
+++ b/perception/radar_tracks_msgs_converter/README.md
@@ -52,6 +52,12 @@ Autoware objects label is defined in [ObjectClassification.idl](https://gitlab.c
 
 ### Parameters
 
+#### Parameter Summary
+
+{{ json_to_markdown("perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json") }}
+
+#### Parameter Description
+
 - `update_rate_hz` (double) [hz]
   - Default parameter is 20.0
 
diff --git a/perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json b/perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json
new file mode 100644
index 0000000000000..396dbcd413ee8
--- /dev/null
+++ b/perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json
@@ -0,0 +1,57 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Radar Tracks Msgs Converter node",
+  "type": "object",
+  "definitions": {
+    "radar_tracks_msgs_converter": {
+      "type": "object",
+      "properties": {
+        "update_rate_hz": {
+          "type": "number",
+          "description": "The update rate [hz] of the output topic",
+          "default": "20.0",
+          "minimum": 0.0
+        },
+        "new_frame_id": {
+          "type": "string",
+          "description": "The header frame_id of the output topic",
+          "default": "base_link"
+        },
+        "use_twist_compensation": {
+          "type": "boolean",
+          "description": "Flag to enable the linear compensation of ego vehicle's twist",
+          "default": "false"
+        },
+        "use_twist_yaw_compensation": {
+          "type": "boolean",
+          "description": "Flag to enable the compensation of yaw rotation of ego vehicle's twist",
+          "default": "false"
+        },
+        "static_object_speed_threshold": {
+          "type": "number",
+          "description": "Threshold to treat detected objects as static objects",
+          "default": "1.0"
+        }
+      },
+      "required": [
+        "update_rate_hz",
+        "new_frame_id",
+        "use_twist_compensation",
+        "use_twist_yaw_compensation",
+        "static_object_speed_threshold"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/radar_tracks_msgs_converter"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}