refactor(pose_initializer): rework parameters

Signed-off-by: PhoebeWu21 <[email protected]>
autowarefoundation · Dec 6, 2023 · 095de6b · 095de6b
1 parent a626d53
commit 095de6b
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diff --git a/localization/pose_initializer/config/pose_initializer.param.yaml b/localization/pose_initializer/config/pose_initializer.param.yaml
@@ -2,6 +2,11 @@
   ros__parameters:
     gnss_pose_timeout: 3.0 # [sec]
     stop_check_duration: 3.0 # [sec]
+    ekf_enabled: true
+    gnss_enabled: true
+    yabloc_enabled: true
+    ndt_enabled: true
+    stop_check_enabled: true
 
     # from gnss
     gnss_particle_covariance:

diff --git a/localization/pose_initializer/schema/pose_initializer.schema.json b/localization/pose_initializer/schema/pose_initializer.schema.json
@@ -12,12 +12,37 @@
           "default": "3.0",
           "minimum": 0.0
         },
+        "stop_check_enabled": {
+          "type": "boolean",
+          "description": "If true, initialization is accepted only when the vehicle is stopped.",
+          "default": "true"
+        },
         "stop_check_duration": {
           "type": "number",
           "description": "The duration used for the stop check above. [sec]",
           "default": "3.0",
           "minimum": 0.0
         },
+        "ekf_enabled": {
+          "type": "boolean",
+          "description": "If true, EKF localizer is activated.",
+          "default": "true"
+        },
+        "gnss_enabled": {
+          "type": "boolean",
+          "description": "If true, use the GNSS pose when no pose is specified.",
+          "default": "true"
+        },
+        "yabloc_enabled": {
+          "type": "boolean",
+          "description": "If true, YabLocModule is used.",
+          "default": "true"
+        },
+        "ndt_enabled": {
+          "type": "boolean",
+          "description": "If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.",
+          "default": "true"
+        },
         "gnss_particle_covariance": {
           "type": "array",
           "description": "gnss particle covariance",
@@ -32,6 +57,11 @@
       "required": [
         "gnss_pose_timeout",
         "stop_check_duration",
+        "ekf_enabled",
+        "gnss_enabled",
+        "yabloc_enabled",
+        "ndt_enabled",
+        "stop_check_enabled",
         "gnss_particle_covariance",
         "output_pose_covariance"
       ],