add param file and schema

Signed-off-by: oguzkaganozt <[email protected]>

evaluator/localization_evaluator/README.md

@@ -1,3 +1,7 @@
 # Localization Evaluator
 
-TBD
+The Localization Evaluator evaluates the performance of the localization system and provides metrics
+
+## Parameters
+
+{{ json_to_markdown("evaluator/localization_evaluator/schema/localization_evaluator.schema.json") }}

evaluator/localization_evaluator/launch/localization_evaluator.launch.xml

@@ -1,9 +1,10 @@
 <launch>
   <arg name="input/localization" default="/localization/kinematic_state"/>
   <arg name="input/localization/ref" default="/geometry_msgs/PoseWithCovarianceStampedGt"/>
+  <param name="param_file" value="$(find-pkg-share localization_evaluator)/config/localization_evaluator.param.yaml"/>
 
   <node name="localization_evaluator" exec="localization_evaluator" pkg="localization_evaluator" output="screen">
-    <param from="$(find-pkg-share localization_evaluator)/param/localization_evaluator.defaults.yaml"/>
+    <param from="$(var param_file)"/>
     <remap from="~/input/localization" to="$(var input/localization)"/>
     <remap from="~/input/localization/ref" to="$(var input/localization/ref)"/>
   </node>

evaluator/localization_evaluator/schema/localization_evaluator.schema.json

@@ -0,0 +1,39 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "Parameters for Localization Evaluator",
+    "type": "object",
+    "definitions": {
+      "localization_evaluator": {
+        "type": "object",
+        "properties": {
+          "output_file": {
+            "type": "string",
+            "default": "loc_metrics.results",
+            "description": "if empty, metrics are not written to file"
+          },
+          "selected_metrics": {
+            "type": "array",
+            "default": "['lateral_error', 'absolute_error']",
+            "description": "metrics to be calculated"
+          }
+        },
+        "required": [
+          "output_file",
+          "selected_metrics"
+        ]
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/localization_evaluator"
+          }
+        },
+        "required": ["ros__parameters"]
+      }
+    },
+    "required": ["/**"]
+  }
+