From 2bf7cf993118208da538465bffc0bc4e38a8369c Mon Sep 17 00:00:00 2001
From: karishma <karishma@interpl.ai>
Date: Thu, 30 Nov 2023 15:27:17 +0530
Subject: [PATCH] system/topic_state_monitor

Signed-off-by: karishma <karishma@interpl.ai>
---
 .../schema/topic_state_monitor.json           | 79 +++++++++++++++++++
 .../src/topic_state_monitor_core.cpp          | 14 ++--
 2 files changed, 86 insertions(+), 7 deletions(-)
 create mode 100644 system/topic_state_monitor/schema/topic_state_monitor.json

diff --git a/system/topic_state_monitor/schema/topic_state_monitor.json b/system/topic_state_monitor/schema/topic_state_monitor.json
new file mode 100644
index 0000000000000..5eea6643788ad
--- /dev/null
+++ b/system/topic_state_monitor/schema/topic_state_monitor.json
@@ -0,0 +1,79 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for topic_state_monitor",
+  "type": "object",
+  "definitions": {
+    "topic_state_monitor": {
+      "type": "object",
+      "properties": {
+        "warn_rate": {
+          "type": "number",
+          "default": 0.5,
+          "description": "If the topic rate is lower than this value, the topic status becomes warn_rate"
+        },
+        "error_rate": {
+          "type": "number",
+          "default": 0.1,
+          "description": "If the topic rate is lower than this value, the topic status becomes."
+        },
+        "timeout": {
+          "type": "number",
+          "default": 1.0,
+          "description": "If the topic subscription is stopped for more than this time [s], the topic status becomes timeout."
+        },
+        "window_size": {
+          "type": "number",
+          "default": 10,
+          "description": "Window size of target topic for calculating frequency."
+        },
+        "update_rate": {
+          "type": "number",
+          "default": 10.0,
+          "description": "Timer callback period."
+        },
+        "topic": {
+          "type": "string",
+          "description": "Name of target."
+        },
+        "transient_local": {
+          "type": "boolean",
+          "default": "false",
+          "description": "QoS policy of topic subscription (Transient Local/Volatile)."
+        },
+        "best_effort": {
+          "type": "boolean",
+          "default": "false",
+          "description": "QoS policy of topic subscription (Best Effort/Reliable)."
+        },
+        "diag_name": {
+          "type": "boolean",
+          "default": "string",
+          "description": "Name used for the diagnostics to publish."
+        }
+      },
+      "required": [
+        "warn_rate",
+        "window_size",
+        "timeout",
+        "error_rate",
+        "update_rate",
+        "topic",
+        "transient_local",
+        "best_effort",
+        "diag_name"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/topic_state_monitor"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/system/topic_state_monitor/src/topic_state_monitor_core.cpp b/system/topic_state_monitor/src/topic_state_monitor_core.cpp
index 68fa3764d8ecd..b270873bbfd74 100644
--- a/system/topic_state_monitor/src/topic_state_monitor_core.cpp
+++ b/system/topic_state_monitor/src/topic_state_monitor_core.cpp
@@ -42,10 +42,10 @@ TopicStateMonitorNode::TopicStateMonitorNode(const rclcpp::NodeOptions & node_op
   using std::placeholders::_1;
 
   // Parameter
-  node_param_.update_rate = declare_parameter("update_rate", 10.0);
+  node_param_.update_rate = declare_parameter<double>("update_rate", 10.0);
   node_param_.topic = declare_parameter<std::string>("topic");
-  node_param_.transient_local = declare_parameter("transient_local", false);
-  node_param_.best_effort = declare_parameter("best_effort", false);
+  node_param_.transient_local = declare_parameter<bool>("transient_local", false);
+  node_param_.best_effort = declare_parameter<bool>("best_effort", false);
   node_param_.diag_name = declare_parameter<std::string>("diag_name");
   node_param_.is_transform = (node_param_.topic == "/tf" || node_param_.topic == "/tf_static");
 
@@ -56,10 +56,10 @@ TopicStateMonitorNode::TopicStateMonitorNode(const rclcpp::NodeOptions & node_op
     node_param_.topic_type = declare_parameter<std::string>("topic_type");
   }
 
-  param_.warn_rate = declare_parameter("warn_rate", 0.5);
-  param_.error_rate = declare_parameter("error_rate", 0.1);
-  param_.timeout = declare_parameter("timeout", 1.0);
-  param_.window_size = declare_parameter("window_size", 10);
+  param_.warn_rate = declare_parameter<double>("warn_rate");
+  param_.error_rate = declare_parameter<double>("error_rate");
+  param_.timeout = declare_parameter<double>("timeout");
+  param_.window_size = declare_parameter<double>("window_size");
 
   // Parameter Reconfigure
   set_param_res_ =