refactor(radar_tracks_msgs_converter): rework parameters (autowarefou…

…ndation#6533) * refactor(radar_tracks_msgs_converter) Rework parameters Signed-off-by: kaspermeck-arm <[email protected]> Change-Id: If28e9c97bc6db3b522c680f215b3f8cb95ec58b7 * fix: restore parameter description and make json schema description simpler Signed-off-by: Ryohsuke Mitsudome <[email protected]> * style(pre-commit): autofix * Updated param file path Signed-off-by: kaspermeck-arm <[email protected]> Change-Id: Ic6b6fd98ba2c0e2a5510ff08cf563877d1205bb9 --------- Signed-off-by: kaspermeck-arm <[email protected]> Signed-off-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: kaigohirao <[email protected]>
kaigohirao · Mar 22, 2024 · 260c72e · 260c72e
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diff --git 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
@@ -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": ["/**"]
+}