From 82036400117ecb7d1cf7dae0f6acb38feef1d1ec Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome Date: Fri, 1 Mar 2024 16:48:08 +0900 Subject: [PATCH] fix: restore parameter description and make json schema description simpler Signed-off-by: Ryohsuke Mitsudome --- .../radar_tracks_msgs_converter/README.md | 33 +++++++++++++++++++ .../radar_tracks_msgs_converter.schema.json | 10 +++--- 2 files changed, 38 insertions(+), 5 deletions(-) diff --git a/perception/radar_tracks_msgs_converter/README.md b/perception/radar_tracks_msgs_converter/README.md index 76ea80a881a5b..3992e5933c54e 100644 --- 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 index ee01647d613b6..767235f2e1666 100644 --- 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" } },