Merge pull request #1 from mitsudome-r/fix/radar_tracks_msgs_converter

fix: restore parameter description and make json schema description simpler
kaspermeck-arm · Mar 1, 2024 · c53b81f · c53b81f
2 parents 5d2ac41 + 8203640
commit c53b81f
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diff --git a/perception/radar_tracks_msgs_converter/README.md b/perception/radar_tracks_msgs_converter/README.md
@@ -52,4 +52,37 @@ 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
+
+This parameter is update rate for the `onTimer` function.
+This parameter should be same as the frame rate of input topics.
+
+- `new_frame_id` (string)
+  - Default parameter is "base_link"
+
+This parameter is the header frame_id of the output topic.
+
+- `use_twist_compensation` (bool)
+  - Default parameter is "true"
+
+This parameter is the flag to use the compensation to linear of ego vehicle's twist.
+If the parameter is true, then the twist of the output objects' topic is compensated by the ego vehicle linear motion.
+
+- `use_twist_yaw_compensation` (bool)
+  - Default parameter is "false"
+
+This parameter is the flag to use the compensation to yaw rotation of ego vehicle's twist.
+If the parameter is true, then the ego motion compensation will also consider yaw motion of the ego vehicle.
+
+- `static_object_speed_threshold` (float) [m/s]
+  - Default parameter is 1.0
+
+This parameter is the threshold to determine the flag `is_stationary`.
+If the velocity is lower than this parameter, the flag `is_stationary` of DetectedObject is set to `true` and dealt as a static object.
+
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
@@ -8,28 +8,28 @@
       "properties": {
         "update_rate_hz": {
           "type": "number",
-          "description": "The update rate [hz] for the `onTimer` function. Should be the same as the frame rate of input topics.",
+          "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.",
+          "description": "The header frame_id of the output topic",
           "default": "base_link"
         },
         "use_twist_compensation": {
           "type": "boolean",
-          "description": "Flag to enable the compensation to linear of ego vehicle's twist. If true, the twist of the output objects' topic is compensated by the ego vehicle linear motion.",
+          "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 to yaw rotation of ego vehicle's twist. If true, the ego motion compensation will also consider yaw motion of the ego vehicle.",
+          "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 determine the flag `is_stationary`. If the velocity is lower than this parameter, the flag `is_stationary` of DetectedObject is set to `true` and dealt as a static object.",
+          "description": "Threshold to treat detected objects as static objects",
           "default": "1.0"
         }
       },