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refactor(ekf_localizer): rework parameters (autowarefoundation#6196)
* refactor: Create JSON Schema files Signed-off-by: Motsu-san <[email protected]> * Fix: Modify the descriptions of parameters Signed-off-by: Motsu-san <[email protected]> * fix: Redo modification of the descriptions Signed-off-by: Motsu-san <[email protected]> * doc: Replace parameter tables to JSON Schema ones in README Signed-off-by: Motsu-san <[email protected]> * refactor: Remove default value from source code and launch.xml with arrangement of param .yaml Signed-off-by: Motsu-san <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Motsu-san <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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68 changes: 38 additions & 30 deletions
68
localization/ekf_localizer/config/ekf_localizer.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,38 +1,46 @@ | ||
| /**: | ||
| ros__parameters: | ||
| show_debug_info: false | ||
| enable_yaw_bias_estimation: true | ||
| predict_frequency: 50.0 | ||
| tf_rate: 50.0 | ||
| publish_tf: true | ||
| extend_state_step: 50 | ||
| node: | ||
| show_debug_info: false | ||
| enable_yaw_bias_estimation: true | ||
| predict_frequency: 50.0 | ||
| tf_rate: 50.0 | ||
| publish_tf: true | ||
| extend_state_step: 50 | ||
|
|
||
| # for Pose measurement | ||
| pose_additional_delay: 0.0 | ||
| pose_measure_uncertainty_time: 0.01 | ||
| pose_smoothing_steps: 5 | ||
| pose_gate_dist: 10000.0 | ||
| pose_measurement: | ||
| # for Pose measurement | ||
| pose_additional_delay: 0.0 | ||
| pose_measure_uncertainty_time: 0.01 | ||
| pose_smoothing_steps: 5 | ||
| pose_gate_dist: 10000.0 | ||
|
|
||
| # for twist measurement | ||
| twist_additional_delay: 0.0 | ||
| twist_smoothing_steps: 2 | ||
| twist_gate_dist: 10000.0 | ||
| twist_measurement: | ||
| # for twist measurement | ||
| twist_additional_delay: 0.0 | ||
| twist_smoothing_steps: 2 | ||
| twist_gate_dist: 10000.0 | ||
|
|
||
| # for process model | ||
| proc_stddev_yaw_c: 0.005 | ||
| proc_stddev_vx_c: 10.0 | ||
| proc_stddev_wz_c: 5.0 | ||
| process_noise: | ||
| # for process model | ||
| proc_stddev_yaw_c: 0.005 | ||
| proc_stddev_vx_c: 10.0 | ||
| proc_stddev_wz_c: 5.0 | ||
|
|
||
| #Simple1DFilter parameters | ||
| z_filter_proc_dev: 1.0 | ||
| roll_filter_proc_dev: 0.01 | ||
| pitch_filter_proc_dev: 0.01 | ||
| simple_1d_filter_parameters: | ||
| #Simple1DFilter parameters | ||
| z_filter_proc_dev: 1.0 | ||
| roll_filter_proc_dev: 0.01 | ||
| pitch_filter_proc_dev: 0.01 | ||
|
|
||
| # for diagnostics | ||
| pose_no_update_count_threshold_warn: 50 | ||
| pose_no_update_count_threshold_error: 100 | ||
| twist_no_update_count_threshold_warn: 50 | ||
| twist_no_update_count_threshold_error: 100 | ||
| diagnostics: | ||
| # for diagnostics | ||
| pose_no_update_count_threshold_warn: 50 | ||
| pose_no_update_count_threshold_error: 100 | ||
| twist_no_update_count_threshold_warn: 50 | ||
| twist_no_update_count_threshold_error: 100 | ||
|
|
||
| # for velocity measurement limitation (Set 0.0 if you want to ignore) | ||
| threshold_observable_velocity_mps: 0.0 # [m/s] | ||
| misc: | ||
| # for velocity measurement limitation (Set 0.0 if you want to ignore) | ||
| threshold_observable_velocity_mps: 0.0 # [m/s] | ||
| pose_frame_id: "map" |
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52 changes: 52 additions & 0 deletions
52
localization/ekf_localizer/schema/ekf_localizer.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "EKF Localizer Configuration", | ||
| "type": "object", | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "type": "object", | ||
| "properties": { | ||
| "node": { | ||
| "$ref": "sub/node.sub_schema.json#/definitions/node" | ||
| }, | ||
| "pose_measurement": { | ||
| "$ref": "sub/pose_measurement.sub_schema.json#/definitions/pose_measurement" | ||
| }, | ||
| "twist_measurement": { | ||
| "$ref": "sub/twist_measurement.sub_schema.json#/definitions/twist_measurement" | ||
| }, | ||
| "process_noise": { | ||
| "$ref": "sub/process_noise.sub_schema.json#/definitions/process_noise" | ||
| }, | ||
| "simple_1d_filter_parameters": { | ||
| "$ref": "sub/simple_1d_filter_parameters.sub_schema.json#/definitions/simple_1d_filter_parameters" | ||
| }, | ||
| "diagnostics": { | ||
| "$ref": "sub/diagnostics.sub_schema.json#/definitions/diagnostics" | ||
| }, | ||
| "misc": { | ||
| "$ref": "sub/misc.sub_schema.json#/definitions/misc" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "node", | ||
| "pose_measurement", | ||
| "twist_measurement", | ||
| "process_noise", | ||
| "simple_1d_filter_parameters", | ||
| "diagnostics", | ||
| "misc" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
38 changes: 38 additions & 0 deletions
38
localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "EKF Localizer Configuration for Diagnostics", | ||
| "definitions": { | ||
| "diagnostics": { | ||
| "type": "object", | ||
| "properties": { | ||
| "pose_no_update_count_threshold_warn": { | ||
| "type": "integer", | ||
| "description": "The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times", | ||
| "default": 50 | ||
| }, | ||
| "pose_no_update_count_threshold_error": { | ||
| "type": "integer", | ||
| "description": "The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times", | ||
| "default": 100 | ||
| }, | ||
| "twist_no_update_count_threshold_warn": { | ||
| "type": "integer", | ||
| "description": "The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times", | ||
| "default": 50 | ||
| }, | ||
| "twist_no_update_count_threshold_error": { | ||
| "type": "integer", | ||
| "description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times", | ||
| "default": 100 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "pose_no_update_count_threshold_warn", | ||
| "pose_no_update_count_threshold_error", | ||
| "twist_no_update_count_threshold_warn", | ||
| "twist_no_update_count_threshold_error" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| } | ||
| } |
23 changes: 23 additions & 0 deletions
23
localization/ekf_localizer/schema/sub/misc.sub_schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "EKF Localizer Configuration for MISC", | ||
| "definitions": { | ||
| "misc": { | ||
| "type": "object", | ||
| "properties": { | ||
| "threshold_observable_velocity_mps": { | ||
| "type": "number", | ||
| "description": "Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor [m/s] (0.0 means disabled)", | ||
| "default": 0.0 | ||
| }, | ||
| "pose_frame_id": { | ||
| "type": "string", | ||
| "description": "Parent frame_id of EKF output pose", | ||
| "default": "map" | ||
| } | ||
| }, | ||
| "required": ["threshold_observable_velocity_mps", "pose_frame_id"], | ||
| "additionalProperties": false | ||
| } | ||
| } | ||
| } |
50 changes: 50 additions & 0 deletions
50
localization/ekf_localizer/schema/sub/node.sub_schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "EKF Localizer Configuration for node", | ||
| "definitions": { | ||
| "node": { | ||
| "type": "object", | ||
| "properties": { | ||
| "show_debug_info": { | ||
| "type": "boolean", | ||
| "description": "Flag to display debug info", | ||
| "default": false | ||
| }, | ||
| "predict_frequency": { | ||
| "type": "number", | ||
| "description": "Frequency for filtering and publishing [Hz]", | ||
| "default": 50.0 | ||
| }, | ||
| "tf_rate": { | ||
| "type": "number", | ||
| "description": "Frequency for tf broadcasting [Hz]", | ||
| "default": 50.0 | ||
| }, | ||
| "publish_tf": { | ||
| "type": "boolean", | ||
| "description": "Whether to publish tf", | ||
| "default": true | ||
| }, | ||
| "extend_state_step": { | ||
| "type": "integer", | ||
| "description": "Max delay step which can be dealt with in EKF. Large number increases computational cost.", | ||
| "default": 50 | ||
| }, | ||
| "enable_yaw_bias_estimation": { | ||
| "type": "boolean", | ||
| "description": "Flag to enable yaw bias estimation", | ||
| "default": true | ||
| } | ||
| }, | ||
| "required": [ | ||
| "show_debug_info", | ||
| "predict_frequency", | ||
| "tf_rate", | ||
| "publish_tf", | ||
| "extend_state_step", | ||
| "enable_yaw_bias_estimation" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| } | ||
| } |
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