chore(ar_tag_based_localizer): add json schema (autowarefoundation#6164)

* Added json schema to AR tag-based localizer Signed-off-by: Shintaro SAKODA <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Shintaro SAKODA <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Interplai · Jun 3, 2024 · 260be59 · 260be59
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diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/README.md b/localization/landmark_based_localizer/ar_tag_based_localizer/README.md
@@ -2,7 +2,7 @@
 
 **ArTagBasedLocalizer** is a vision-based localization node.
 
-<img src="./doc_image/ar_tag_image.png" width="320px">
+<img src="./doc_image/ar_tag_image.png" width="320px" alt="ar_tag_image">
 
 This node uses [the ArUco library](https://index.ros.org/p/aruco/) to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections.
 The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.
@@ -30,6 +30,10 @@ The positions and orientations of the AR-Tags are assumed to be written in the L
 | `/tf`                           | `geometry_msgs::msg::TransformStamped`          | [debug topic] TF from camera to detected tag                                              |
 | `/diagnostics`                  | `diagnostic_msgs::msg::DiagnosticArray`         | Diagnostics outputs                                                                       |
 
+## Parameters
+
+{{ json_to_markdown("localization/landmark_based_localizer/ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json") }}
+
 ## How to launch
 
 When launching Autoware, set `artag` for `pose_source`.

diff --git a/...landmark_based_localizer/ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json b/...landmark_based_localizer/ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json
@@ -0,0 +1,87 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for ar_tag_based_localizer",
+  "type": "object",
+  "definitions": {
+    "ar_tag_based_localizer": {
+      "type": "object",
+      "properties": {
+        "marker_size": {
+          "type": "number",
+          "description": "marker_size",
+          "default": 0.6
+        },
+        "target_tag_ids": {
+          "type": "array",
+          "description": "target_tag_ids",
+          "default": "['0','1','2','3','4','5','6']"
+        },
+        "base_covariance": {
+          "type": "array",
+          "description": "base_covariance",
+          "default": [
+            0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2, 0.0, 0.0,
+            0.0, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0, 0.0, 0.0,
+            0.0, 0.02
+          ]
+        },
+        "distance_threshold": {
+          "type": "number",
+          "description": "distance_threshold(m)",
+          "default": "13.0"
+        },
+        "consider_orientation": {
+          "type": "boolean",
+          "description": "consider_orientation",
+          "default": "false"
+        },
+        "detection_mode": {
+          "type": "string",
+          "description": "detection_mode select from [DM_NORMAL, DM_FAST, DM_VIDEO_FAST]",
+          "default": "DM_NORMAL"
+        },
+        "min_marker_size": {
+          "type": "number",
+          "description": "min_marker_size",
+          "default": 0.02
+        },
+        "ekf_time_tolerance": {
+          "type": "number",
+          "description": "ekf_time_tolerance(sec)",
+          "default": 5.0
+        },
+        "ekf_position_tolerance": {
+          "type": "number",
+          "description": "ekf_position_tolerance(m)",
+          "default": 10.0
+        }
+      },
+      "required": [
+        "marker_size",
+        "target_tag_ids",
+        "base_covariance",
+        "distance_threshold",
+        "consider_orientation",
+        "detection_mode",
+        "min_marker_size",
+        "ekf_time_tolerance",
+        "ekf_position_tolerance"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/ar_tag_based_localizer"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}