refactor(autoware_velocity_smoother): rework parameters

Signed-off-by: batuhanbeytekin <[email protected]>
autowarefoundation · Oct 3, 2024 · 6c5f637 · 6c5f637
1 parent 0effdfa
commit 6c5f637
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Showing 4 changed files with 43 additions and 13 deletions.
diff --git a/planning/autoware_velocity_smoother/config/default_nearest_search.param.yaml b/planning/autoware_velocity_smoother/config/default_nearest_search.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:    
+    ego_nearest_dist_threshold: 0.3       # threshold to find the nearest point on the trajectory [m]
+    ego_nearest_yaw_threshold: 1.046      # threshold to find the nearest point on the trajectory [rad]
diff --git a/planning/autoware_velocity_smoother/config/default_velocity_smoother.param.yaml b/planning/autoware_velocity_smoother/config/default_velocity_smoother.param.yaml
@@ -10,9 +10,7 @@
     # ---- curve parameters  ----
     # - common parameters -
     curvature_calculation_distance: 5.0   # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m]
-    ego_nearest_dist_threshold: 0.3       # threshold to find the nearest point on the trajectory [m]
-    ego_nearest_yaw_threshold: 1.046      # threshold to find the nearest point on the trajectory [rad]
-    algorithm_type: "JerkFiltered"       # algorithm type for velocity smoother. "JerkFiltered" or "L2" or "Linf" or "Analytical"
+    algorithm_type: $(var velocity_smoother_type)       # algorithm type for velocity smoother. "JerkFiltered" or "L2" or "Linf" or "Analytical"
     # - lateral acceleration limit parameters -
     enable_lateral_acc_limit: true     # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime.
     max_lateral_accel: 0.8             # max lateral acceleration limit [m/ss]

diff --git a/planning/autoware_velocity_smoother/schema/default_nearest_search.schema.json b/planning/autoware_velocity_smoother/schema/default_nearest_search.schema.json
@@ -0,0 +1,38 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "Parameters for default_nearest_search_params",
+    "type": "object",
+    "definitions": {
+      "default_nearest_search_params": {
+        "type": "object",
+        "properties": {          
+          "ego_nearest_dist_threshold": {
+            "type": "number",
+            "default": 0.3,
+            "description": "Threshold to find the nearest point on the trajectory [m]"
+          },
+          "ego_nearest_yaw_threshold": {
+            "type": "number",
+            "default": 1.046,
+            "description": "Threshold to find the nearest point on the trajectory [rad]"
+          }
+        },
+        "required": [
+          "ego_nearest_dist_threshold",
+          "ego_nearest_yaw_threshold"
+        ]
+    }
+},
+"properties": {
+  "/**": {
+    "type": "object",
+    "properties": {
+      "ros__parameters": {
+        "$ref": "#/definitions/default_nearest_search_params"
+      }
+    },
+    "required": ["ros__parameters"]
+  }
+},
+"required": ["/**"]
+}
diff --git a/planning/autoware_velocity_smoother/schema/default_velocity_smoother.schema.json b/planning/autoware_velocity_smoother/schema/default_velocity_smoother.schema.json
@@ -26,16 +26,6 @@
             "default": 5.0,
             "description": "Distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m]"
           },
-          "ego_nearest_dist_threshold": {
-            "type": "number",
-            "default": 0.3,
-            "description": "Threshold to find the nearest point on the trajectory [m]"
-          },
-          "ego_nearest_yaw_threshold": {
-            "type": "number",
-            "default": 1.046,
-            "description": "Threshold to find the nearest point on the trajectory [rad]"
-          },
           "algorithm_type": {
             "type": "string",
             "enum": ["JerkFiltered", "L2", "Linf", "Analytical"],