refactor(shape_estimation): rework parameters (#5330)

* refactor(shape_estimation): rework parameters

Signed-off-by: PhoebeWu21 <[email protected]>

* style(pre-commit): autofix

* refactor(shape_estimation): rework parameters

Signed-off-by: PhoebeWu21 <[email protected]>

* refactor(shape_estimation): rework parameters

Signed-off-by: PhoebeWu21 <[email protected]>

---------

Signed-off-by: PhoebeWu21 <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

perception/shape_estimation/CMakeLists.txt

@@ -64,4 +64,5 @@ rclcpp_components_register_node(shape_estimation_node
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
+  config
 )

perception/shape_estimation/README.md

@@ -36,11 +36,7 @@ This node calculates a refined object shape (bounding box, cylinder, convex hull
 
 ## Parameters
 
-| Name                        | Type | Default Value | Description                                         |
-| --------------------------- | ---- | ------------- | --------------------------------------------------- |
-| `use_corrector`             | bool | true          | The flag to apply rule-based filter                 |
-| `use_filter`                | bool | true          | The flag to apply rule-based corrector              |
-| `use_vehicle_reference_yaw` | bool | true          | The flag to use vehicle reference yaw for corrector |
+{{ json_to_markdown("perception/shape_estimation/schema/shape_estimation.schema.json") }}
 
 ## Assumptions / Known limits
 

perception/shape_estimation/config/shape_estimation.param.yaml

@@ -0,0 +1,7 @@
+/**:
+    ros__parameters:
+      use_corrector: true
+      use_filter: true
+      use_vehicle_reference_yaw: false
+      use_vehicle_reference_shape_size: false
+      use_boost_bbox_optimizer: false

perception/shape_estimation/launch/shape_estimation.launch.xml

@@ -1,18 +1,16 @@
 <launch>
   <arg name="input/objects" default="labeled_clusters"/>
   <arg name="output/objects" default="shape_estimated_objects"/>
-  <arg name="use_filter" default="true"/>
-  <arg name="use_corrector" default="true"/>
   <arg name="node_name" default="shape_estimation"/>
+  <!-- Parameter -->
+  <arg name="config_file" default="$(find-pkg-share shape_estimation)/config/shape_estimation.param.yaml"/>
   <arg name="use_vehicle_reference_yaw" default="false"/>
   <arg name="use_vehicle_reference_shape_size" default="false"/>
   <arg name="use_boost_bbox_optimizer" default="false"/>
+
   <node pkg="shape_estimation" exec="shape_estimation" name="$(var node_name)" output="screen">
     <remap from="input" to="$(var input/objects)"/>
     <remap from="objects" to="$(var output/objects)"/>
-    <param name="use_filter" value="$(var use_filter)"/>
-    <param name="use_corrector" value="$(var use_corrector)"/>
-    <param name="use_vehicle_reference_yaw" value="$(var use_vehicle_reference_yaw)"/>
-    <param name="use_boost_bbox_optimizer" value="$(var use_boost_bbox_optimizer)"/>
+    <param from="$(var config_file)"/>
   </node>
 </launch>

perception/shape_estimation/schema/shape_estimation.schema.json

@@ -0,0 +1,56 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Shape Estimation Node",
+  "type": "object",
+  "definitions": {
+    "shape_estimation": {
+      "type": "object",
+      "properties": {
+        "use_corrector": {
+          "type": "boolean",
+          "description": "The flag to apply rule-based corrector.",
+          "default": "true"
+        },
+        "use_filter": {
+          "type": "boolean",
+          "description": "The flag to apply rule-based filter",
+          "default": "true"
+        },
+        "use_vehicle_reference_yaw": {
+          "type": "boolean",
+          "description": "The flag to use vehicle reference yaw for corrector",
+          "default": "false"
+        },
+        "use_vehicle_reference_shape_size": {
+          "type": "boolean",
+          "description": "The flag to use vehicle reference shape size",
+          "default": "false"
+        },
+        "use_boost_bbox_optimizer": {
+          "type": "boolean",
+          "description": "The flag to use boost bbox optimizer",
+          "default": "false"
+        }
+      },
+      "required": [
+        "use_corrector",
+        "use_filter",
+        "use_vehicle_reference_yaw",
+        "use_vehicle_reference_shape_size",
+        "use_boost_bbox_optimizer"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/shape_estimation"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

perception/shape_estimation/src/node.cpp

@@ -42,11 +42,11 @@ ShapeEstimationNode::ShapeEstimationNode(const rclcpp::NodeOptions & node_option
     "input", rclcpp::QoS{1}, std::bind(&ShapeEstimationNode::callback, this, _1));
 
   pub_ = create_publisher<DetectedObjectsWithFeature>("objects", rclcpp::QoS{1});
-  bool use_corrector = declare_parameter("use_corrector", true);
-  bool use_filter = declare_parameter("use_filter", true);
-  use_vehicle_reference_yaw_ = declare_parameter("use_vehicle_reference_yaw", true);
-  use_vehicle_reference_shape_size_ = declare_parameter("use_vehicle_reference_shape_size", true);
-  bool use_boost_bbox_optimizer = declare_parameter("use_boost_bbox_optimizer", false);
+  bool use_corrector = declare_parameter<bool>("use_corrector");
+  bool use_filter = declare_parameter<bool>("use_filter");
+  use_vehicle_reference_yaw_ = declare_parameter<bool>("use_vehicle_reference_yaw");
+  use_vehicle_reference_shape_size_ = declare_parameter<bool>("use_vehicle_reference_shape_size");
+  bool use_boost_bbox_optimizer = declare_parameter<bool>("use_boost_bbox_optimizer");
   RCLCPP_INFO(this->get_logger(), "using boost shape estimation : %d", use_boost_bbox_optimizer);
   estimator_ =
     std::make_unique<ShapeEstimator>(use_corrector, use_filter, use_boost_bbox_optimizer);