refactor(scenario_selector): rework parameters (#5218)

* refactor(scenario_selector): rework parameters Signed-off-by: PhoebeWu21 <[email protected]> * style(pre-commit): autofix * refactor(scenario_selector): rework parameters Signed-off-by: PhoebeWu21 <[email protected]> * refactor(scenario_selector): 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>
autowarefoundation · Nov 23, 2023 · 27ac617 · 27ac617
1 parent 033edff
commit 27ac617
Show file tree

Hide file tree

Showing 5 changed files with 74 additions and 13 deletions.
diff --git a/planning/scenario_selector/CMakeLists.txt b/planning/scenario_selector/CMakeLists.txt
@@ -25,4 +25,5 @@ endif()
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/planning/scenario_selector/README.md b/planning/scenario_selector/README.md
@@ -34,13 +34,7 @@ None
 
 ### Parameters
 
-| Parameter                  | Type   | Description                                                                     |
-| -------------------------- | ------ | ------------------------------------------------------------------------------- |
-| `update_rate`              | double | timer's update rate                                                             |
-| `th_max_message_delay_sec` | double | threshold time of input messages' maximum delay                                 |
-| `th_arrived_distance_m`    | double | threshold distance to check if vehicle has arrived at the trajectory's endpoint |
-| `th_stopped_time_sec`      | double | threshold time to check if vehicle is stopped                                   |
-| `th_stopped_velocity_mps`  | double | threshold velocity to check if vehicle is stopped                               |
+{{ json_to_markdown("planning/scenario_selector/schema/scenario_selector.schema.json") }}
 
 ### Flowchart
 

diff --git a/planning/scenario_selector/config/scenario_selector.param.yaml b/planning/scenario_selector/config/scenario_selector.param.yaml
@@ -0,0 +1,7 @@
+/**:
+    ros__parameters:
+      update_rate: 10.0
+      th_max_message_delay_sec: 1.0
+      th_arrived_distance_m: 1.0
+      th_stopped_time_sec: 1.0
+      th_stopped_velocity_mps: 0.01
diff --git a/planning/scenario_selector/launch/scenario_selector.launch.xml b/planning/scenario_selector/launch/scenario_selector.launch.xml
@@ -8,6 +8,8 @@
 
   <arg name="output_scenario"/>
   <arg name="output_trajectory"/>
+  <!-- Parameter -->
+  <arg name="config_file" default="$(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml"/>
 
   <node pkg="scenario_selector" exec="scenario_selector" name="scenario_selector" output="screen">
     <remap from="input/lane_driving/trajectory" to="$(var input_lane_driving_trajectory)"/>
@@ -19,11 +21,7 @@
 
     <remap from="output/scenario" to="$(var output_scenario)"/>
     <remap from="output/trajectory" to="$(var output_trajectory)"/>
-
-    <param name="update_rate" value="10.0"/>
-    <param name="th_max_message_delay_sec" value="1.0"/>
-    <param name="th_arrived_distance_m" value="1.0"/>
-    <param name="th_stopped_time_sec" value="1.0"/>
-    <param name="th_stopped_velocity_mps" value="0.01"/>
+    <!-- Parameter -->
+    <param from="$(var config_file)"/>
   </node>
 </launch>
diff --git a/planning/scenario_selector/schema/scenario_selector.schema.json b/planning/scenario_selector/schema/scenario_selector.schema.json
@@ -0,0 +1,61 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Scenario Selector Node",
+  "type": "object",
+  "definitions": {
+    "scenario_selector": {
+      "type": "object",
+      "properties": {
+        "update_rate": {
+          "type": "number",
+          "description": "timer's update rate",
+          "default": "10.0",
+          "minimum": 0.0
+        },
+        "th_max_message_delay_sec": {
+          "type": "number",
+          "description": "threshold time of input messages' maximum delay",
+          "default": "1.0",
+          "minimum": 0.0
+        },
+        "th_arrived_distance_m": {
+          "type": "number",
+          "description": "threshold distance to check if vehicle has arrived at the trajectory's endpoint",
+          "default": "1.0",
+          "minimum": 0.0
+        },
+        "th_stopped_time_sec": {
+          "type": "number",
+          "description": "threshold time to check if vehicle is stopped",
+          "default": "1.0",
+          "minimum": 0.0
+        },
+        "th_stopped_velocity_mps": {
+          "type": "number",
+          "description": "threshold velocity to check if vehicle is stopped",
+          "default": "0.01",
+          "minimum": 0.0
+        }
+      },
+      "required": [
+        "update_rate",
+        "th_max_message_delay_sec",
+        "th_arrived_distance_m",
+        "th_stopped_time_sec",
+        "th_stopped_velocity_mps"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/scenario_selector"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
-Original file line number
+Diff line change
@@ Expand Up / @@ -25,4 +25,5 @@ endif() @@
     ament_auto_package(INSTALL_TO_SHARE
       launch
+      config
     )