Refractored the parameters, build the schema file, updated the readme…

… file.

perception/multi_object_tracker/README.md

@@ -10,6 +10,7 @@ This multi object tracker consists of data association and EKF.
 
 ![multi_object_tracker_overview](image/multi_object_tracker_overview.svg)
 
+
 ### Data association
 
 The data association performs maximum score matching, called min cost max flow problem.
@@ -57,49 +58,24 @@ Multiple inputs are pre-defined in the input channel parameters (described below
 
 ### Output
 
-| Name       | Type                                            | Description     |
-| ---------- | ----------------------------------------------- | --------------- |
-| `~/output` | `autoware_perception_msgs::msg::TrackedObjects` | tracked objects |
+| Name       | Type                                                 | Description     |
+| ---------- | ---------------------------------------------------- | --------------- |
+| `~/output` | `autoware_auto_perception_msgs::msg::TrackedObjects` | tracked objects |
 
 ## Parameters
 
 ### Input Channel parameters
 
-Available input channels are defined in [input_channels.param.yaml](config/input_channels.param.yaml).
-
-| Name                              | Type                                             | Description                           |
-| --------------------------------- | ------------------------------------------------ | ------------------------------------- |
-| `<channel>`                       |                                                  | the name of channel                   |
-| `<channel>.topic`                 | `autoware_perception_msgs::msg::DetectedObjects` | detected objects                      |
-| `<channel>.can_spawn_new_tracker` | `bool`                                           | a switch allow to spawn a new tracker |
-| `<channel>.optional.name`         | `std::string`                                    | channel name for analysis             |
-| `<channel>.optional.short_name`   | `std::string`                                    | short name for visualization          |
+{{ json_to_markdown("perception/multi_object_tracker/schema/input_channels.schema.json") }}
 
 ### Core Parameters
 
-Node parameters are defined in [multi_object_tracker_node.param.yaml](config/multi_object_tracker_node.param.yaml) and association parameters are defined in [data_association_matrix.param.yaml](config/data_association_matrix.param.yaml).
-
-#### Node parameters
-
-| Name                        | Type   | Description                                                                                                                 |
-| --------------------------- | ------ | --------------------------------------------------------------------------------------------------------------------------- |
-| `***_tracker`               | string | EKF tracker name for each class                                                                                             |
-| `world_frame_id`            | double | object kinematics definition frame                                                                                          |
-| `enable_delay_compensation` | bool   | if True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp |
-| `publish_rate`              | double | Timer frequency to output with delay compensation                                                                           |
-| `publish_processing_time`   | bool   | enable to publish debug message of process time information                                                                 |
-| `publish_tentative_objects` | bool   | enable to publish tentative tracked objects, which have lower confidence                                                    |
-| `publish_debug_markers`     | bool   | enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection       |
-
-#### Association parameters
-
-| Name                | Type   | Description                                 |
-| ------------------- | ------ | ------------------------------------------- |
-| `can_assign_matrix` | double | Assignment table for data association       |
-| `max_dist_matrix`   | double | Maximum distance table for data association |
-| `max_area_matrix`   | double | Maximum area table for data association     |
-| `min_area_matrix`   | double | Minimum area table for data association     |
-| `max_rad_matrix`    | double | Maximum angle table for data association    |
+{{ json_to_markdown("perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json") }}
+{{ json_to_markdown("perception/multi_object_tracker/schema/data_association_matrix.schema.json") }}
+
+#### Simulation parameters
+
+{{ json_to_markdown("perception/multi_object_tracker/schema/simulation_tracker.schema.json") }}
 
 ## Assumptions / Known limits
 

perception/multi_object_tracker/include/multi_object_tracker/data_association/data_association.hpp

@@ -31,7 +31,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 
 class DataAssociation
 {
@@ -55,7 +55,7 @@ class DataAssociation
     const Eigen::MatrixXd & src, std::unordered_map<int, int> & direct_assignment,
     std::unordered_map<int, int> & reverse_assignment);
   Eigen::MatrixXd calcScoreMatrix(
-    const autoware_perception_msgs::msg::DetectedObjects & measurements,
+    const autoware_auto_perception_msgs::msg::DetectedObjects & measurements,
     const std::list<std::shared_ptr<Tracker>> & trackers);
   virtual ~DataAssociation() {}
 };

perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp

@@ -21,8 +21,8 @@
 #include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include "unique_identifier_msgs/msg/uuid.hpp"
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
-#include <autoware_perception_msgs/msg/tracked_objects.hpp>
+#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
+#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
 #include <geometry_msgs/msg/point.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -87,7 +87,7 @@ class TrackerObjectDebugger
   void collect(
     const rclcpp::Time & message_time, const std::list<std::shared_ptr<Tracker>> & list_tracker,
     const uint & channel_index,
-    const autoware_perception_msgs::msg::DetectedObjects & detected_objects,
+    const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects,
     const std::unordered_map<int, int> & direct_assignment,
     const std::unordered_map<int, int> & reverse_assignment);
 

perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp

@@ -23,8 +23,8 @@
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
-#include <autoware_perception_msgs/msg/tracked_objects.hpp>
+#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
+#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
 #include <list>
@@ -54,7 +54,7 @@ class TrackerDebugger
 
   // ROS node, publishers
   rclcpp::Node & node_;
-  rclcpp::Publisher<autoware_perception_msgs::msg::TrackedObjects>::SharedPtr
+  rclcpp::Publisher<autoware_auto_perception_msgs::msg::TrackedObjects>::SharedPtr
     debug_tentative_objects_pub_;
   std::unique_ptr<tier4_autoware_utils::DebugPublisher> processing_time_publisher_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr debug_objects_markers_pub_;
@@ -80,7 +80,7 @@ class TrackerDebugger
   // Object publishing
   bool shouldPublishTentativeObjects() const { return debug_settings_.publish_tentative_objects; }
   void publishTentativeObjects(
-    const autoware_perception_msgs::msg::TrackedObjects & tentative_objects) const;
+    const autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const;
 
   // Time measurement
   void startMeasurementTime(
@@ -98,7 +98,7 @@ class TrackerDebugger
   void collectObjectInfo(
     const rclcpp::Time & message_time, const std::list<std::shared_ptr<Tracker>> & list_tracker,
     const uint & channel_index,
-    const autoware_perception_msgs::msg::DetectedObjects & detected_objects,
+    const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects,
     const std::unordered_map<int, int> & direct_assignment,
     const std::unordered_map<int, int> & reverse_assignment);
   void publishObjectsMarkers();

perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp

@@ -27,8 +27,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
-#include <autoware_perception_msgs/msg/tracked_objects.hpp>
+#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
+#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
 #include <tf2/LinearMath/Transform.h>
@@ -55,9 +55,9 @@
 namespace multi_object_tracker
 {
 
-using DetectedObject = autoware_perception_msgs::msg::DetectedObject;
-using DetectedObjects = autoware_perception_msgs::msg::DetectedObjects;
-using TrackedObjects = autoware_perception_msgs::msg::TrackedObjects;
+using DetectedObject = autoware_auto_perception_msgs::msg::DetectedObject;
+using DetectedObjects = autoware_auto_perception_msgs::msg::DetectedObjects;
+using TrackedObjects = autoware_auto_perception_msgs::msg::TrackedObjects;
 
 class MultiObjectTracker : public rclcpp::Node
 {

perception/multi_object_tracker/include/multi_object_tracker/processor/input_manager.hpp

@@ -17,7 +17,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "autoware_perception_msgs/msg/detected_objects.hpp"
+#include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
 
 #include <deque>
 #include <functional>
@@ -28,7 +28,7 @@
 
 namespace multi_object_tracker
 {
-using DetectedObjects = autoware_perception_msgs::msg::DetectedObjects;
+using DetectedObjects = autoware_auto_perception_msgs::msg::DetectedObjects;
 using ObjectsList = std::vector<std::pair<uint, DetectedObjects>>;
 
 struct InputChannel
@@ -52,7 +52,7 @@ class InputStream
     func_trigger_ = func_trigger;
   }
 
-  void onMessage(const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr msg);
+  void onMessage(const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr msg);
   void updateTimingStatus(const rclcpp::Time & now, const rclcpp::Time & objects_time);
 
   bool isTimeInitialized() const { return initial_count_ > 0; }

perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp

@@ -19,8 +19,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
-#include <autoware_perception_msgs/msg/tracked_objects.hpp>
+#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
+#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
 
 #include <list>
 #include <map>
@@ -39,11 +39,11 @@ class TrackerProcessor
   // tracker processes
   void predict(const rclcpp::Time & time);
   void update(
-    const autoware_perception_msgs::msg::DetectedObjects & transformed_objects,
+    const autoware_auto_perception_msgs::msg::DetectedObjects & transformed_objects,
     const geometry_msgs::msg::Transform & self_transform,
     const std::unordered_map<int, int> & direct_assignment, const uint & channel_index);
   void spawn(
-    const autoware_perception_msgs::msg::DetectedObjects & detected_objects,
+    const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects,
     const geometry_msgs::msg::Transform & self_transform,
     const std::unordered_map<int, int> & reverse_assignment, const uint & channel_index);
   void prune(const rclcpp::Time & time);
@@ -52,10 +52,10 @@ class TrackerProcessor
   bool isConfidentTracker(const std::shared_ptr<Tracker> & tracker) const;
   void getTrackedObjects(
     const rclcpp::Time & time,
-    autoware_perception_msgs::msg::TrackedObjects & tracked_objects) const;
+    autoware_auto_perception_msgs::msg::TrackedObjects & tracked_objects) const;
   void getTentativeObjects(
     const rclcpp::Time & time,
-    autoware_perception_msgs::msg::TrackedObjects & tentative_objects) const;
+    autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const;
 
   void getExistenceProbabilities(std::vector<std::vector<float>> & existence_vectors) const;
 
@@ -74,7 +74,7 @@ class TrackerProcessor
   void removeOldTracker(const rclcpp::Time & time);
   void removeOverlappedTracker(const rclcpp::Time & time);
   std::shared_ptr<Tracker> createNewTracker(
-    const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
+    const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
     const geometry_msgs::msg::Transform & self_transform, const uint & channel_index) const;
 };
 

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp

@@ -27,7 +27,7 @@
 class BicycleTracker : public Tracker
 {
 private:
-  autoware_perception_msgs::msg::DetectedObject object_;
+  autoware_auto_perception_msgs::msg::DetectedObject object_;
   rclcpp::Logger logger_;
 
 private:
@@ -55,22 +55,22 @@ class BicycleTracker : public Tracker
 
 public:
   BicycleTracker(
-    const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object,
+    const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object,
     const geometry_msgs::msg::Transform & self_transform, const size_t channel_size,
     const uint & channel_index);
 
   bool predict(const rclcpp::Time & time) override;
   bool measure(
-    const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
+    const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
     const geometry_msgs::msg::Transform & self_transform) override;
-  autoware_perception_msgs::msg::DetectedObject getUpdatingObject(
-    const autoware_perception_msgs::msg::DetectedObject & object,
+  autoware_auto_perception_msgs::msg::DetectedObject getUpdatingObject(
+    const autoware_auto_perception_msgs::msg::DetectedObject & object,
     const geometry_msgs::msg::Transform & self_transform);
-  bool measureWithPose(const autoware_perception_msgs::msg::DetectedObject & object);
-  bool measureWithShape(const autoware_perception_msgs::msg::DetectedObject & object);
+  bool measureWithPose(const autoware_auto_perception_msgs::msg::DetectedObject & object);
+  bool measureWithShape(const autoware_auto_perception_msgs::msg::DetectedObject & object);
   bool getTrackedObject(
     const rclcpp::Time & time,
-    autoware_perception_msgs::msg::TrackedObject & object) const override;
+    autoware_auto_perception_msgs::msg::TrackedObject & object) const override;
   virtual ~BicycleTracker() {}
 };
 

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp

@@ -27,7 +27,7 @@
 class BigVehicleTracker : public Tracker
 {
 private:
-  autoware_perception_msgs::msg::DetectedObject object_;
+  autoware_auto_perception_msgs::msg::DetectedObject object_;
   rclcpp::Logger logger_;
 
 private:
@@ -60,22 +60,22 @@ class BigVehicleTracker : public Tracker
 
 public:
   BigVehicleTracker(
-    const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object,
+    const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object,
     const geometry_msgs::msg::Transform & self_transform, const size_t channel_size,
     const uint & channel_index);
 
   bool predict(const rclcpp::Time & time) override;
   bool measure(
-    const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
+    const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
     const geometry_msgs::msg::Transform & self_transform) override;
-  autoware_perception_msgs::msg::DetectedObject getUpdatingObject(
-    const autoware_perception_msgs::msg::DetectedObject & object,
+  autoware_auto_perception_msgs::msg::DetectedObject getUpdatingObject(
+    const autoware_auto_perception_msgs::msg::DetectedObject & object,
     const geometry_msgs::msg::Transform & self_transform);
-  bool measureWithPose(const autoware_perception_msgs::msg::DetectedObject & object);
-  bool measureWithShape(const autoware_perception_msgs::msg::DetectedObject & object);
+  bool measureWithPose(const autoware_auto_perception_msgs::msg::DetectedObject & object);
+  bool measureWithShape(const autoware_auto_perception_msgs::msg::DetectedObject & object);
   bool getTrackedObject(
     const rclcpp::Time & time,
-    autoware_perception_msgs::msg::TrackedObject & object) const override;
+    autoware_auto_perception_msgs::msg::TrackedObject & object) const override;
   virtual ~BigVehicleTracker() {}
 
 private:

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp

@@ -34,17 +34,17 @@ class MultipleVehicleTracker : public Tracker
 
 public:
   MultipleVehicleTracker(
-    const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object,
+    const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object,
     const geometry_msgs::msg::Transform & self_transform, const size_t channel_size,
     const uint & channel_index);
 
   bool predict(const rclcpp::Time & time) override;
   bool measure(
-    const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
+    const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
     const geometry_msgs::msg::Transform & self_transform) override;
   bool getTrackedObject(
     const rclcpp::Time & time,
-    autoware_perception_msgs::msg::TrackedObject & object) const override;
+    autoware_auto_perception_msgs::msg::TrackedObject & object) const override;
   virtual ~MultipleVehicleTracker() {}
 };
 

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp

@@ -27,7 +27,7 @@
 class NormalVehicleTracker : public Tracker
 {
 private:
-  autoware_perception_msgs::msg::DetectedObject object_;
+  autoware_auto_perception_msgs::msg::DetectedObject object_;
   rclcpp::Logger logger_;
 
 private:
@@ -60,22 +60,22 @@ class NormalVehicleTracker : public Tracker
 
 public:
   NormalVehicleTracker(
-    const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object,
+    const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object,
     const geometry_msgs::msg::Transform & self_transform, const size_t channel_size,
     const uint & channel_index);
 
   bool predict(const rclcpp::Time & time) override;
   bool measure(
-    const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
+    const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
     const geometry_msgs::msg::Transform & self_transform) override;
-  autoware_perception_msgs::msg::DetectedObject getUpdatingObject(
-    const autoware_perception_msgs::msg::DetectedObject & object,
+  autoware_auto_perception_msgs::msg::DetectedObject getUpdatingObject(
+    const autoware_auto_perception_msgs::msg::DetectedObject & object,
     const geometry_msgs::msg::Transform & self_transform);
-  bool measureWithPose(const autoware_perception_msgs::msg::DetectedObject & object);
-  bool measureWithShape(const autoware_perception_msgs::msg::DetectedObject & object);
+  bool measureWithPose(const autoware_auto_perception_msgs::msg::DetectedObject & object);
+  bool measureWithShape(const autoware_auto_perception_msgs::msg::DetectedObject & object);
   bool getTrackedObject(
     const rclcpp::Time & time,
-    autoware_perception_msgs::msg::TrackedObject & object) const override;
+    autoware_auto_perception_msgs::msg::TrackedObject & object) const override;
   virtual ~NormalVehicleTracker() {}
 
 private: