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refactor(radar_tracks_msgs_converter): rework parameters #6533

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merged 5 commits into from
Mar 7, 2024
Merged

refactor(radar_tracks_msgs_converter): rework parameters #6533

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5d2ac41
refactor(radar_tracks_msgs_converter)
kaspermeck-arm Mar 1, 2024
8203640
fix: restore parameter description and make json schema description s…
mitsudome-r Mar 1, 2024
c53b81f
Merge pull request #1 from mitsudome-r/fix/radar_tracks_msgs_converter
kaspermeck-arm Mar 1, 2024
dc26b46
style(pre-commit): autofix
pre-commit-ci[bot] Mar 2, 2024
78671ea
Updated param file path
kaspermeck-arm Mar 4, 2024
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6 changes: 6 additions & 0 deletions perception/radar_tracks_msgs_converter/README.md
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Expand Up @@ -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

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4 changes: 2 additions & 2 deletions perception/radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml
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Expand Up @@ -3,13 +3,13 @@
<arg name="input/odometry" default="/localization/kinematic_state"/>
<arg name="output/radar_detected_objects" default="output/radar_detected_objects"/>
<arg name="output/radar_tracked_objects" default="output/radar_tracked_objects"/>
<arg name="param_path" default="$(find-pkg-share radar_tracks_msgs_converter)/config/radar_tracks_msgs_converter.param.yaml"/>
<arg name="config_file" default="$(find-pkg-share radar_tracks_msgs_converter)/config/radar_tracks_msgs_converter.param.yaml"/>
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[MUST]
This unnecessary interface changes affect many Autoware projects.
Please revert this change.

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@mitsudome-r mitsudome-r Mar 4, 2024 •
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@kaspermeck-arm
Could you provide the reasons for this modification?

Like @scepter914 says, this would affect users who include this radar_tracks_msgs_converter.launch.xml to their own project.
Since we don't want to disturb developers, let's keep this as and focus on node configuration, not launch configuration for now. If we need to unify the launch arguments as well, I think we should discuss this under #3386 first.

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@mitsudome-r

To align with the original PR

and because in

it wasn't addressed.

I'll update the launch file and we can discuss naming convention when we start the ROS Launch dojo.


<node pkg="radar_tracks_msgs_converter" exec="radar_tracks_msgs_converter_node" name="radar_tracks_msgs_converter" output="screen">
<remap from="~/input/radar_objects" to="$(var input/radar_objects)"/>
<remap from="~/input/odometry" to="$(var input/odometry)"/>
<remap from="~/output/radar_detected_objects" to="$(var output/radar_detected_objects)"/>
<remap from="~/output/radar_tracked_objects" to="$(var output/radar_tracked_objects)"/>
<param from="$(var param_path)"/>
<param from="$(var config_file)"/>
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[MUST]
This unnecessary interface changes affect many Autoware projects.
Please revert this change.

</node>
</launch>
57 changes: 57 additions & 0 deletions perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json
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@@ -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": ["/**"]
}
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