From b86a00d017e203bbc7d4031b5712e31cf70eb786 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Fri, 23 Feb 2024 16:48:58 +0300 Subject: [PATCH] fix(json-schema-check): update schemas (#6474) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- ...tance_based_compare_map_filter.schema.json | 29 +++++++++++++++++- ...approximate_compare_map_filter.schema.json | 30 ++++++++++++++++++- ...voxel_based_compare_map_filter.schema.json | 16 ++++++---- ...tance_based_compare_map_filter.schema.json | 30 ++++++++++++++++++- .../behavior_velocity_planner.schema.json | 2 +- 5 files changed, 98 insertions(+), 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 index 10454b48d3d80..b389e496fc477 100644 --- 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/perception/compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json b/perception/compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json index 3c301d5ad9fbb..1b2e8ba5d51f8 100644 --- a/perception/compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json +++ b/perception/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 index 2e541662a1743..8cf95b8a3098e 100644 --- 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/perception/compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json b/perception/compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json index 4663dbe806223..d743fb45cfd60 100644 --- a/perception/compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json +++ b/perception/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 index 1a80b3146d9f1..67c9c06104b40 100644 --- 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",