fix(json-schema-check): update schemas (autowarefoundation#6474)

Signed-off-by: M. Fatih Cırıt <[email protected]>
kaspermeck-arm · Feb 23, 2024 · b86a00d · b86a00d
1 parent 1397e91
commit b86a00d
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Showing 5 changed files with 98 additions and 9 deletions.
diff --git a/perception/compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json b/perception/compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json
@@ -15,9 +15,36 @@
  "type": "boolean",
  "default": "true",
  "description": "map loading mode selection, true for dynamic map loading, false for static map loading, recommended for no-split map pointcloud"
+ },
+ "timer_interval_ms": {
+ "type": "number",
+ "default": "100",
+ "description": "Timer interval to load map points [ms]"
+ },
+ "map_update_distance_threshold": {
+ "type": "number",
+ "default": "10.0",
+ "description": "Threshold distance to update map points with input points [m]"
+ },
+ "map_loader_radius": {
+ "type": "number",
+ "default": "150.0",
+ "description": "Radius to load map points [m]"
+ },
+ "publish_debug_pcd": {
+ "type": "boolean",
+ "default": "false",
+ "description": "Publish a downsampled map pointcloud for debugging"
  }
  },
- "required": ["distance_threshold", "use_dynamic_map_loading"],
+ "required": [
+ "distance_threshold",
+ "use_dynamic_map_loading",
+ "timer_interval_ms",
+ "map_update_distance_threshold",
+ "map_loader_radius",
+ "publish_debug_pcd"
+ ],
  "additionalProperties": false
  }
  },

diff --git a/...on/compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json b/...on/compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json
@@ -20,9 +20,37 @@
  "type": "number",
  "default": "0.5",
  "description": "Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis"
+ },
+ "timer_interval_ms": {
+ "type": "number",
+ "default": "100",
+ "description": "Timer interval to load map points [ms]"
+ },
+ "map_update_distance_threshold": {
+ "type": "number",
+ "default": "10.0",
+ "description": "Threshold distance to update map points with input points [m]"
+ },
+ "map_loader_radius": {
+ "type": "number",
+ "default": "150.0",
+ "description": "Radius to load map points [m]"
+ },
+ "publish_debug_pcd": {
+ "type": "boolean",
+ "default": "false",
+ "description": "Publish a downsampled map pointcloud for debugging"
  }
  },
- "required": ["distance_threshold", "use_dynamic_map_loading", "downsize_ratio_z_axis"],
+ "required": [
+ "distance_threshold",
+ "use_dynamic_map_loading",
+ "downsize_ratio_z_axis",
+ "timer_interval_ms",
+ "map_update_distance_threshold",
+ "map_loader_radius",
+ "publish_debug_pcd"
+ ],
  "additionalProperties": false
  }
  },

diff --git a/perception/compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json b/perception/compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json
@@ -21,6 +21,11 @@
  "default": "0.5",
  "description": "Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis"
  },
+ "timer_interval_ms": {
+ "type": "number",
+ "default": "100",
+ "description": "Timer interval to load map points [ms]"
+ },
  "map_update_distance_threshold": {
  "type": "number",
  "default": "10.0",
@@ -31,19 +36,20 @@
  "default": "150.0",
  "description": "Radius to load map points [m]"
  },
- "timer_interval_ms": {
- "type": "number",
- "default": "100",
- "description": "Timer interval to load map points [ms]"
+ "publish_debug_pcd": {
+ "type": "boolean",
+ "default": "false",
+ "description": "Publish a downsampled map pointcloud for debugging"
  }
  },
  "required": [
  "distance_threshold",
  "use_dynamic_map_loading",
  "downsize_ratio_z_axis",
+ "timer_interval_ms",
  "map_update_distance_threshold",
  "map_loader_radius",
- "timer_interval_ms"
+ "publish_debug_pcd"
  ],
  "additionalProperties": false
  }

diff --git a/...ption/compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json b/...ption/compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json
@@ -20,9 +20,37 @@
  "type": "number",
  "default": "0.5",
  "description": "Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis"
+ },
+ "timer_interval_ms": {
+ "type": "number",
+ "default": "100",
+ "description": "Timer interval to load map points [ms]"
+ },
+ "map_update_distance_threshold": {
+ "type": "number",
+ "default": "10.0",
+ "description": "Threshold distance to update map points with input points [m]"
+ },
+ "map_loader_radius": {
+ "type": "number",
+ "default": "150.0",
+ "description": "Radius to load map points [m]"
+ },
+ "publish_debug_pcd": {
+ "type": "boolean",
+ "default": "false",
+ "description": "Publish a downsampled map pointcloud for debugging"
  }
  },
- "required": ["distance_threshold", "use_dynamic_map_loading", "downsize_ratio_z_axis"],
+ "required": [
+ "distance_threshold",
+ "use_dynamic_map_loading",
+ "downsize_ratio_z_axis",
+ "timer_interval_ms",
+ "map_update_distance_threshold",
+ "map_loader_radius",
+ "publish_debug_pcd"
+ ],
  "additionalProperties": false
  }
  },

diff --git a/planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json b/planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json
@@ -19,7 +19,7 @@
  "behavior_output_path_interval": {
  "type": "number",
  "default": "1.0",
- "description": "output path interval"
+ "description": "the output path will be interpolated by this interval"
  },
  "max_accel": {
  "type": "number",