refactor(front_vehicle_velocity_estimator): rework parameters

perception/front_vehicle_velocity_estimator/CMakeLists.txt

@@ -27,4 +27,5 @@ endif()
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )

perception/front_vehicle_velocity_estimator/README.md

@@ -28,18 +28,6 @@ This package can:
 | `~/output/objects`                    | autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist.                |
 | `~/debug/nearest_neighbor_pointcloud` | sensor_msgs/msg/PointCloud2.msg                       | The pointcloud msg of nearest neighbor point. |
 
-## Node parameter
+## Parameter
 
-| Name             | Type   | Description           | Default value |
-| :--------------- | :----- | :-------------------- | :------------ |
-| `update_rate_hz` | double | The update rate [hz]. | 10.0          |
-
-## Core parameter
-
-| Name                          | Type   | Description                                                                                                                                                                                                                                                                 | Default value |
-| :---------------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
-| `moving_average_num`          | int    | The moving average number for velocity estimation.                                                                                                                                                                                                                          | 1             |
-| `threshold_pointcloud_z_high` | float  | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > `threshold_pointcloud_z_high`, the point is considered to noise.                                                                                          | 1.0f          |
-| `threshold_pointcloud_z_low`  | float  | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < `threshold_pointcloud_z_low`, the point is considered to noise like ground.                                                                               | 0.6f          |
-| `threshold_relative_velocity` | double | The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - `threshold_relative_velocity` , then $v_{re}$ = - `threshold_relative_velocity`. If $v_{re}$ > `threshold_relative_velocity`, then $v_{re}$ = `threshold_relative_velocity`. | 10.0          |
-| `threshold_absolute_velocity` | double | The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > `threshold_absolute_velocity`, then $v_{ae}$ = `threshold_absolute_velocity`.                                                                                                          | 20.0          |
+{{ json_to_markdown("perception/front_vehicle_velocity_estimator/schema/front_vehicle_velocity_estimator.schema.json") }}

perception/front_vehicle_velocity_estimator/config/front_vehicle_velocity_estimator.param.yaml

@@ -0,0 +1,10 @@
+/**:
+  ros__parameters:
+    node_params:
+      update_rate_hz: 10.0
+    core_params:
+      moving_average_num: 1
+      threshold_pointcloud_z_high: 1.0
+      threshold_pointcloud_z_low: 0.6
+      threshold_relative_velocity: 10.0
+      threshold_absolute_velocity: 20.0

perception/front_vehicle_velocity_estimator/launch/front_vehicle_velocity_estimator.launch.xml

@@ -9,7 +9,7 @@
   <arg name="debug/nearest_neighbor_pointcloud" default="~/debug/nearest_neighbor_pointcloud"/>
 
   <!-- Parameter -->
-  <arg name="core_params.moving_average_num" default="1"/>
+  <arg name="front_vehicle_velocity_estimator_param_file" default="$(find-pkg-share front_vehicle_velocity_estimator)/config/front_vehicle_velocity_estimator.param.yaml"/>
 
   <!-- Node -->
   <node pkg="front_vehicle_velocity_estimator" exec="front_vehicle_velocity_estimator_node" name="front_vehicle_velocity_estimator" output="screen">
@@ -23,6 +23,6 @@
     <remap from="~/debug/nearest_neighbor_pointcloud" to="$(var debug/nearest_neighbor_pointcloud)"/>
 
     <!-- Parameter -->
-    <param name="core_params.moving_average_num" value="$(var core_params.moving_average_num)"/>
+    <param from="$(var front_vehicle_velocity_estimator_param_file)"/>
   </node>
 </launch>

perception/front_vehicle_velocity_estimator/schema/front_vehicle_velocity_estimator.schema.json

@@ -0,0 +1,69 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for front vehicle velocity estinator node",
+  "type": "object",
+  "definitions": {
+    "front_vehicle_velocity_estimator": {
+      "type": "object",
+      "properties": {
+        "node_params": {
+          "type": "object",
+          "properties": {
+            "update_rate_hz": {
+              "type": "number",
+              "description": "Update rate of the node in Hz",
+              "default": 10.0
+            }
+          },
+          "required": ["update_rate_hz"]
+        },
+        "core_params": {
+          "type": "object",
+          "properties": {
+            "moving_average_num": {
+              "type": "integer",
+              "description": "The moving average number for velocity estimation.",
+              "default": 1
+            },
+            "threshold_pointcloud_z_high": {
+              "type": "number",
+              "description": "The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > `threshold_pointcloud_z_high`, the point is considered to noise.",
+              "default": 1.0
+            },
+            "threshold_pointcloud_z_low": {
+              "type": "number",
+              "description": "The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < `threshold_pointcloud_z_low`, the point is considered to noise like ground.",
+              "default": 0.6
+            },
+            "threshold_relative_velocity": {
+              "type": "number",
+              "description": "The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - `threshold_relative_velocity` , then $v_{re}$ = - `threshold_relative_velocity`. If $v_{re}$ > `threshold_relative_velocity`, then $v_{re}$ = `threshold_relative_velocity`.",
+              "default": 10.0
+            },
+            "threshold_absolute_velocity": {
+              "type": "number",
+              "description": "The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > `threshold_absolute_velocity`, then $v_{ae}$ = `threshold_absolute_velocity`.",
+              "default": 20.0
+            }
+          }
+        }
+      },
+      "required": ["node_params", "core_params"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/front_vehicle_velocity_estimator"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

perception/front_vehicle_velocity_estimator/src/front_vehicle_velocity_estimator_node/front_vehicle_velocity_estimator_node.cpp

@@ -57,18 +57,18 @@
     std::bind(&FrontVehicleVelocityEstimatorNode::onSetParam, this, std::placeholders::_1));
 
   // Node Parameter
-  node_param_.update_rate_hz = declare_parameter<double>("node_params.update_rate_hz", 10.0);
+  node_param_.update_rate_hz = declare_parameter<double>("node_params.update_rate_hz");
 
   // Core Parameter
-  core_param_.moving_average_num = declare_parameter<int>("core_params.moving_average_num", 1);
+  core_param_.moving_average_num = declare_parameter<int>("core_params.moving_average_num");
   core_param_.threshold_pointcloud_z_high =
-    declare_parameter<float>("core_params.threshold_pointcloud_z_high", 1.0f);
+    declare_parameter<float>("core_params.threshold_pointcloud_z_high");
   core_param_.threshold_pointcloud_z_low =
-    declare_parameter<float>("core_params.threshold_pointcloud_z_low", 0.6f);
+    declare_parameter<float>("core_params.threshold_pointcloud_z_low");
   core_param_.threshold_relative_velocity =
-    declare_parameter<double>("core_params.threshold_relative_velocity", 10.0);
+    declare_parameter<double>("core_params.threshold_relative_velocity");
   core_param_.threshold_absolute_velocity =
-    declare_parameter<double>("core_params.threshold_absolute_velocity", 20.0);
+    declare_parameter<double>("core_params.threshold_absolute_velocity");
 
   // Core
   front_vehicle_velocity_estimator_ = std::make_unique<FrontVehicleVelocityEstimator>(get_logger());